Method for treating plants with respect to estimated root zones

ABSTRACT

A method for treating plants comprises estimating a growth state or maturity state of a plant based on a planting date, a current date and the crop type of the plant. A root zone estimator or data processor estimating a size, diameter or radius of a root zone of the plant based on the determined growth state or maturity state. The data processor adjusts a lateral offset of a distribution pattern of a crop input or nutrient from at least one nutrient knife based on the size, diameter or radius of the root zone and safety zone about the root zone, where the at least one nutrient knife tracks a path outside of or bounded by the root zone.

RELATED APPLICATION

This document (including the drawings) claims priority and the benefitof the filing date based on U.S. provisional application No. 62/579,823,filed Oct. 31, 2017 under 35 U.S.C. § 119 (e), where the provisionalapplication is hereby incorporated by reference herein.

FIELD

This disclosure relates to a method for treating plants with respect toestimated root zones.

BACKGROUND

Certain prior art sprayers may use a Y-drop sprayer configuration wheretwo nozzles are arranged in an inverted Y to spray plants simultaneouslyin two adjacent rows. If the nozzles are fixed in position, the nozzlesmay not provide the sprayed liquid to target root zone or target foliagezone, where such zones can vary for application of nutrients versusother crop treatments, such as pesticide, herbicide, or fungicide.Accordingly, there is need for a system and method for spraying plantswith automated nozzle selection.

SUMMARY

In accordance with one embodiment, a method for treating plantscomprises determining a growth state or maturity state of a plant basedon a planting date, a current date and the crop type of the plant. Aroot zone estimator or data processor estimating a size, diameter orradius of a root zone of the plant based on the determined growth stateor maturity state. The data processor adjusts a lateral offset of adistribution pattern of a crop input or nutrient from at least onenutrient knife based on the size, diameter or radius of the root zoneand safety zone about the root zone, where the at least one nutrientknife tracks a path outside (e.g., a substantially linear or arced path)of or bounded by the root zone.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of one embodiment of a system for sprayingplants.

FIG. 2 is a perspective front view of an illustrative sprayer vehicleand implement that hosts the system of FIG. 1.

FIG. 3 is a rear view of the sprayer implement of FIG. 2 as viewed alongreference line 2-2 of FIG. 2.

FIG. 4 is an enlarged view of the rectangular region 4 in FIG. 3, wherethe region includes a nozzle head.

FIG. 5 illustrates a lateral separation or alignment of the nozzle headto adjacent rows of plants and target zones (e.g., target root zones) onthe ground.

FIG. 6 is an alternate embodiment of a block diagram of a system forspraying plants.

FIG. 7A is a plan view of one illustrative configuration of a row withina field that shows root zones of plants and application zones for cropinputs with respect to the root zones.

FIG. 7B is a plan view of another illustrative configuration of a rowwithin a field that shows root zones or foliage diameter of plants andapplication zones for crop inputs with respect to the root zone.

FIG. 7C is a plan view of two adjacent rows within a field that showsroot zones or foliage diameter of plants and which application zone(s)for crop inputs are selected for each crop row segment of a row.

FIG. 8 is a flow chart of one embodiment of a method for treating orapplying nutrients to plants.

FIG. 9 is a flow chart of another embodiment of a method for treating orapplying nutrients to plants.

FIG. 10 is a flow chart of yet another embodiment of a method fortreating or applying nutrients to plants.

FIG. 11 is a flow chart of still another embodiment of a method fortreating or applying nutrients to plants.

FIG. 12 is a perspective view of a tractor that pulls an implement forapplying fertilizer (e.g. anhydrous ammonia) via laterally adjustablenutrient knives or cutters.

FIG. 13 is a block diagram of one embodiment of a system for applyingfertilizer consistent with FIG. 12.

FIG. 14 is a block diagram of an alternate embodiment of system forapplying fertilizer.

FIG. 15 is a flow chart of one embodiment of a method for treating orapplying nutrients to plants.

FIG. 16 is a plan view of a nutrient knife path plan or route plan fortreating or applying nutrients to plants.

DETAILED DESCRIPTION

As used in this document, “adapted to” means programmed with softwareinstructions, arranged to, or configured to perform a task, calculation,estimation, communication, or other function set forth in the documentwith a logic device, data processor or other electronic structure.

FIG. 1 is a block diagram of one embodiment of a system 11 for sprayingplants. In one embodiment, the system 11 for spraying plants comprises avehicle data processing system 12 and an implement data processingsystem 42. The vehicle data processing system 12 of FIG. 1 comprises afirst data processor 14, a first data storage device 16, first dataports 24 and a user interface 28 coupled to a first data bus 26. Thefirst data processor 14, the first data storage device 16, the dataports 24, and the user interface 28 can communicate with each other viathe first data bus 26.

In one embodiment, a location-determining receiver 10 is coupled to atleast one of the first data ports 24. A vehicle control system 27 iscoupled to the first data ports 24 or the first data bus 26. Forexample, a steering controller 31, braking controller 35, and propulsioncontroller 39 may be coupled, directly to the first data ports 24, orindirectly to the vehicle data processing system 12 (or to the dataports) via a vehicle data bus 26. In turn, the steering controller 31 isconnected to the steering system 33; the braking controller 35 isconnected to the braking system 37; the propulsion controller 39 isconnected to the propulsion system 29.

In one embodiment, the implement data processing system 42 comprises asecond data processor 38, a second data storage device 46, and seconddata ports 36 coupled to a second data bus 40. The second data processor38, the second data storage device 46, and the second data ports 36 cancommunicate with each other via the second data bus 40. In oneembodiment, a distance sensor 30 (e.g., range sensor) and an optionalcrop height sensor 32 are coupled to the second data ports 36. Inanother embodiment, an optional imaging device 34 (e.g., stereo digitalcamera) is coupled to the second data ports 36. The optional crop heightsensor 32 and the optional imaging device 34 are shown in dashed linesto indicate one or both are optional and may be deleted from certainconfigurations. In some configurations, the first data ports 24 and thesecond data ports 36 can communicate with each other via acommunications line 88 or shared memory, for example.

The first data processor 14, the second data processor 38 or bothcomprise a microcontroller, a microprocessor, a digital signalprocessor, a programmable logic array, a logic device, an arithmeticlogic unit, an application specific integrated circuit or anotherelectronic processing device for inputting, outputting, processing ormanipulating data.

The first data storage device 16, the second data storage device 46, orboth comprises electronic memory, non-volatile random-access memory, anoptical disc, an optical storage device, a magnetic disc, a magneticstorage device, a hard drive or another mechanism for storing, accessingand retrieving data.

In one embodiment, first data storage device 16 stores a target pathplanner 18 and guidance module 19, a target zone estimator 20 and anapplication plan module 22. Each module may comprise software,electronic hardware, or both.

The target path planner 18 provides a path plan for the vehicle 61 orsprayer to following in a field, such as a plan to make passes or swathsin the field to cover an enter field area with minimum overlap of cropinputs or sprayed materials 101. For example, the target path planner 18may establish a path plan for the vehicle 61 to follow with alocation-determining receiver 10 and a vehicle guidance module 19. Thevehicle guidance module 19 can send command data or command signals tothe steering controller 31, the braking controller 35, and thepropulsion controller 39 via one or more data ports 24 or via thevehicle data bus such that the vehicle 61 tracks a path plan.

In one embodiment, a steering controller 31, a braking controller 35 andpropulsion controller 39 communicate to the first data ports 24 viacommunication lines or a vehicle data bus, such as controller areanetwork (CAN) data bus. In turn, the steering controller 31 communicateswith the steering system 33, such as an electrohydraulic steering system33 or an electrical steering system 33. The vehicle guidance module 19generates command data or command signals to send steering commands tothe steering controller 31 to track the path plan, target heading ortarget yaw, such as a target path where one or more nozzle assembliesare substantially centered between adjacent plant rows or plant rowsegments. The vehicle guidance module 19 may use position data form thelocation-determining receiver 10 or the optional imaging device 34, orboth.

The braking controller 35 is coupled to a braking system 37, such as anelectrohydraulic braking system 37, an electrical braking system 37 or amechanical braking system 37. The braking controller 35 is coupled to afirst data port.

The propulsion controller 39 is coupled to a propulsion unit, such asone more electric drive motors, an internal combustion engine, or aninternal combustion engine that provides rotational mechanical energy toa generator or an alternator that provides electrical energy to one ormore electric drive motors. The propulsion controller 39 is coupled to afirst data port 24.

In one embodiment, a target zone estimator 20 estimates a target zonefor applying crop inputs or treatments for application to plants, plantrows, plant row segments, soil zones, or soil. For example, crop inputscomprise insecticides, herbicides, fungicides, pesticides, chemicals,nutrients, nitrogen, phosphorus, potash, chemicals, or aqueous solutionsfor applying to treat plants or the soil. Each target zone may beassociated with a corresponding waypoint, a range of waypoints, a pathsegment, a point or geographic location, such as a plant or plant rowsegment, along the path plan of the sprayer or vehicle 61. In oneembodiment, the target zone estimator 20 determines or implements thezones, concentration, and amount of crop inputs applied for eachcorresponding waypoint, point or geographic location along the path planof the sprayer or vehicle 61, which in turn may determine the number ofnozzles of a nozzle assembly 60 that are activated on the boom and thepositions or sections of nozzles that are activated on the boom bynozzle actuators (44, 47, 48).

In one configuration, the target zone estimator 20 can select from oneof several strips (e.g., by activating a particular nozzle in a verticalarray of nozzles or a nozzle assembly 60) that are parallel to eachplant row (e.g., a geometric centerline of each plant row or centerpoint) to direct or apply the crop inputs toward a selected one of theseveral strips, for a corresponding segment of each plant row. As usedin this document, a nozzle assembly 60 shall be synonymous with a nozzlehead. In one embodiment, the nozzle assembly 60 can provides a targetfirst zone, second zone and third zone based on whether the row unit iscentered between adjacent plant row segments and the lateral row spacing(or row width) between adjacent plant row segments. In a first example,even if the lateral row spacing or row width varies or if the nozzleassembly is laterally offset from a center point between the adjacentrows, the nozzle assembly 60 can compensate by activating, separately orcollectively, different nozzles in each vertical array to targetdifferent zones on each side or opposite sides of the nozzle assembly60. In a second example, the target zone estimator 20 or the nozzlecontrol module 50 activates nozzles of the nozzle assembly 60 directedtoward the first zone for a corresponding narrow width row, a secondzone for a corresponding medium width row, and a third zone for acorresponding wide width row, where the narrow width row has lessdistance between adjacent row segments than the medium width row or thewide width row.

In one embodiment, the application plan module 22 estimates the cropinputs that are applied for a certain field along with a lateraldistance or offset between a nozzle assembly 60 or nozzle and one ormore plant rows. The PPP module 52 may estimate the lateral position ofthe sprayer or wheels based on the position data from thelocation-determining receiver 10 or distance data from one or moredistance sensors 30 associated with the row unit to provide a distanceestimate between the plant row (e.g., plant row segment) and the rowunit or nozzle assembly 60. In one embodiment, the nozzle control module50 can decide which nozzle in a vertical array of nozzles to activatefor a row unit for any given waypoint, plant or section of plants in arow. Each nozzle assembly 60 and its actuators (or any optional dataprocessor or controller) can communicate with the second data processor38 via cable 204 (e.g., wiring or communications line and power line)and one or more second data portions 36.

In conjunction with the distance sensor 30, the location-determiningreceiver 10, the imaging device 34, and the plant proximity processing(PPP) module 52 may estimate the distance between one or more nozzles(of the nozzle assembly 60) and a corresponding row or rows of plants.The PPP module 52 may comprise a lateral position estimator that canestimate whether a lateral position of the sprayer or its wheels, ortracks or centered in a plant row or offset with respect to the centerof the plant row to provide more concentrated application of crop inputto certain area of foliage or a strip of ground relative to the row ofplants.

In one embodiment, the distance sensor 30 may comprise an ultrasonicrange finder, a laser range detector, an optical sensor that sends anultrasonic signal, laser signal or optical signal, respectively, towarda plant row, a plant, a stalk, stem or trunk, a leaf canopy, or foliageto estimate or measure a lateral distance between a reference point onthe boom or sprayer to the plant row, plant, leaf canopy, or foliage.For example, a laser range finder may comprise a light detection andranging (LIDAR) device. In one embodiment, the reference point may bealigned with a reference nozzle, a nozzle assembly 60 or a centralpoint, such as central vertical axis of supply lines 64 to a nozzleassembly 60 (e.g., Y-drop nozzle assembly). In an alternate embodiment,the distance sensor 30 may comprise a stereo imaging device.

In one embodiment, one or more rows of the sprayer vehicle 61 areassociated with one or more corresponding distance sensors (30, 130R,130L); the second data processor 38 may process or average distanceestimates or measurements for a sampling interval to attain a median,mean, or mode distance (between the nozzle assembly 60 and the plant rowunit) in the aggregate for all of the rows and associated row units(e.g., nozzle assemblies 60) of the vehicle 61. In other embodiments,one or more rows of the sprayer vehicle 61 are associated withcorresponding distance sensors (130L, 130R in FIG. 4). For instance, apair of distance sensors (130L, 130R) on the row unit or nozzle assembly60 face opposite directions from each other; each distance sensor (e.g.,30, 130L or 130R) is configured to measure a distance between the rowunit and a proximate plant portion of a corresponding plant row segmentthat each distance sensor faces.

In one embodiment, as illustrated in FIG. 4 and FIG. 5, a set (e.g.,pair) of first nozzles (222L, 222R) is associated with the row unit,where the first nozzles have corresponding first outlets facingdifferent or opposite directions. Each of the first nozzles (222L, 222R)is directed toward a first zone (432L or 432R) with respect to theproximate plant portion of a corresponding plant row segment based on afirst spray pattern 75 of each first nozzle (222L, 222R), where the setof first nozzles positioned above the second pair of nozzles inrespective vertical arrays. A set (e.g., pair) of second nozzles (224L,224R) is associated with the row unit or nozzle assembly 60, where thesecond nozzles (224L, 224R) have corresponding second outlets facingdifferent or opposite directions. Each of the second nozzles (224L,224R) is directed toward a second zone (434L or 434R) with respect tothe proximate plant portion of a corresponding plant row segment basedon a second spray pattern 77 of the second nozzle (224L, 224R). A set(e.g., pair) of third nozzles (226L, 226R) is associated with the rowunit or nozzle assembly 60, where the third nozzles (226L, 226R) havecorresponding third outlets facing different or opposite directions.Each of the third nozzles (226L, 226R) is directed toward a third zone(436L or 436R) with respect to the proximate plant portion of acorresponding plant row segment based on a third spray pattern 79 of thesecond nozzle.

Each nozzle assembly 60 for each row unit is controlled independentlybased on the corresponding distance measurement for its row that ismeasured by the distance sensor (30, 130L or 130R). A nozzle controlmodule 50 selects or activates any two of the nozzles (222L, 224L, 226L,222R, 224R, or 226R) of the nozzle assembly 60 based on maximum coverageof a target zone around the proximate plant portion of the one or morerows based on the first zone (432L, 432R), the second zone (434L, 434R),the third zone (436L, 436R) and the measured distance or measureddistances that are measured by the distance sensor (30, 130L or 130R).

In one embodiment, an operator or user enters, via the user interface28, an average, median or mode measurement of crop height samples takenin a field or portion of the field. The user interface 28 comprises oneor more of the following: a display, a touch screen display, a keyboard,a keypad, and a pointing device (e.g., electronic mouse, touch pad ortrackball).

In one embodiment, the optional height sensor 32 comprises an acousticplant height sensor, an optical plant height sensor, a light detectionand range (LIDAR) device, or a stereo vision imaging device. Forexample, an optical plant height sensor 32 may transmit particularfrequency ranges of visible light, near infrared light and/orultraviolet light at a plant row or plant from a fixed height on thesprayer or boom to generate a reflectance signal from the plant row orplant that is indicative of or proportional to the height of the plantrow. Therefore, the plant height 266 can give some indication of thematurity of the plant or plant row and the corresponding root zone for aparticular crop.

In one embodiment, the second data processor 38 or nozzle control module50 commands or instructs the nozzle assembly 60, via actuators (44, 47,144, 147), to activate said one or more nozzles (e.g., 222L, 222R)directed toward a first zone (432L, 432R) or to activate one or morenozzles (e.g., 224L, 222R) directed toward a second zone (434L, 434R)for plants that are greater than or at a threshold maturity level, wherethe first zone (432L, 432R) intercepts a plant base or plant stem 566 ofa plant and wherein the second zone (222L) intercepts the root zone. Inone example, threshold maturity level is greater than a V5 maturitylevel for maize or corn, such as a V5 to VT maturity level.

In one embodiment, the second data processor 38 or the nozzle controlmodule 50 commands or instructs the nozzle assembly 60, via actuators(44, 47, 144, 147), to activate said one or more nozzles (e.g., 226L,226R) directed toward a third zone (436L, 436R) spaced apart from thesecond zone (434L, 434R) by a lateral gap or safety gap to avoidover-applying or overdosing one or more plants with fertilizer, such asplants that are equal to or less than threshold maturity level. In oneexample, the threshold maturity level is less than V5 maturity level,such as a V5 to VE maturity for maize or corn plants. For example, maizeor corn plants at the VE to V5 growth stage of maturity may be moresusceptible to fertilizer damage than plants at the V6 to VT growthstage; hence, the target zone for VE to V5 growth stage may be furtherfrom the plant 66 (e.g., plant stem) then the target zone for V6 to VTgrowth stage.

In one embodiment, the plant proximity processing module 52 estimatesthe distance, such as the average, mean or mode distance between one ormore plant rows to nozzle assembly 60, reference nozzle or referencepoint for each sampling interval. Further, the plant proximityprocessing module 52 may store a look-up table, database or other datastructure that defines the relationship between a lateral offset of thesprayer, the sprayer nozzle, or nozzle assembly 60 and correspondingplant heights for a particular crop. In one configuration, the proximityprocessing module 52 or the data structure takes into consideration thatthe root zone of the plant or particular crop of a particular height maybe associated with: (1) a lateral offset of the nozzle assembly 60 withrespect to center point between adjacent plant rows, and/or (2) avertical activation of one or more nozzles (222L, 224L, 226L or 222R,224R or 226R) in vertical array of nozzles at different correspondingheights (68, 69, 62) above ground level, and different respective targetzones with respect to plant row segments.

In one embodiment, nozzle control module 50 (e.g., nozzle selectionmodule) determines whether to activate a first nozzle actuator 44, asecond nozzle actuator 47, a third nozzle actuator 148, fourth nozzleactuator 144, a fifth nozzle actuator 147, and/or an Nth actuator 48,where N equals any positive integer or whole number greater than 2. Thetarget zone estimator 20, the application plan module 22, and the plantproximity module 52, the first data processor 14, and the second dataprocessor 38 may provide input to the nozzle control module 50 forselection of appropriate number, location, radiation pattern, pressure,or other parameters of activated or deactivated nozzles. The nozzlecontrol module 50 may communicate with one or more actuators (44, 47,148, 144, 147, 48) via the second data ports 36. However, in analternate embodiment, the nozzle control module 50 may comprise anelectronic controller (e.g. that is housed in the nozzle assembly 60 orseparately from the second data storage device 46) and that is locatedbetween one or more second data ports 36 and the nozzle actuators (44,47, 148, 144, 147, 48).

In one configuration, an optional imaging device 34 comprises a stereovision imaging device or digital stereo vision camera with image dataprocessing. The stereo images of the plants or plant rows can provideguidance information that used separately or cumulatively with locationdata or motion data from the location-determining receiver 10 to guidethe vehicle 61 or sprayer relative to the plant rows, such as thelateral position (e.g., centered between adjacent rows of plants oroffset) of the sprayer, implement, nozzle assembly 60 or nozzle withinthe plant rows. Further, the second data processor 38, alone or incombination with the second data storage device 46, comprises an imagingprocessing module 91 for applying image processing to the collectedimage data, such as color differentiation to distinguish backgroundpixels from plant pixels. Background pixels may represent the ground,clouds, the sky or other background pixels, whereas the plant pixels mayhave some shade of green, flowers, fruit, seed pods, ears, or otherplant foliage color consistent with a reference database or range ofplant pixels for a particular crop type. The image processing module 91may be adapted (e.g., programmed with software instructions) determine acloud or constellation of data points of the plant pixels that representplant height of the plant rows or plants.

In accordance with one embodiment, a method or system for sprayingplants comprises a location-determining receiver 10 for estimating aposition of a sprayer or vehicle 61 with respect to one or more rows ofplants based on collected plant location data from alocation-determining receiver 10, an imaging device 34, or other datasource.

The collected plant location data can indicate a position of arespective row of plants. The collected plant location data can beestimated in accordance with various techniques, which may be appliedseparately or cumulatively. Under a first technique, during planting orseeding of the plant rows, a location-determining receiver (e.g., 10) onthe planter, tractor or implement, provides an as-planted map of theplant rows or plant locations in one or more fields. For instance, theas-planted map may be stored in or transferred to (e.g., wirelesslytransferred to) the first data storage device 16, the second datastorage device 46 or in a data storage medium.

Under a second technique, the plant locations or plant locations can bedefined by a series of points (e.g. geographic coordinates) that definesubstantially linear segments, curved segments, contours or spirals.Under a third technique, a planting plan for the planter provides a mapof plant rows or plant locations in one or more fields that can be usedby the location-determining receiver 10 and guidance system of theplanter to plant the seeds or plants. Under a fourth technique, plantrows or plant locations can be defined by linear or quadratic equationsthat are bounded by field boundaries.

If a distance sensor (30, 130L or 130R) is not used or is not available,an optional imaging device 34 (in FIG. 6) can be arranged to measure adistance between a nozzle assembly 60 (e.g., nozzle head) and a plant 66(e.g., plant stem) or a series of plants 66 (e.g., plant stems). Aguidance module 19 is adapted to align the vehicle 61; hence, the nozzleassembly 60 with a target path between the rows of plants, such as acentered path between the rows, or a lateral offset between the rows ofthe plants. A first nozzle (222L or 222R) is targeted toward a firstzone (432L or 432R, respectively) with a first lateral spacing withrespect to the plant 66 (e.g., plant stem) or plant row segment based ona first spray pattern 75 of the first nozzle (222L or 222R).

A second nozzle (224L or 224R) is targeted toward a second zone (434L or434R, respectively) with a second lateral spacing with respect to theplant 66 (e.g., plant stem) or plant row segment based on a second spraypattern 77 of the second nozzle. Further, a third nozzle (226L, 226R) istargeted toward a third zone (436L, 436R, respectively) with a thirdlateral spacing with respect to the plant 66 (e.g., plant stem) based onthe third spray pattern 79 of the third nozzle (226L, 226R).

In one configuration, the first nozzle (222L, 222R) may have a greaterheight 68 above ground than a height 69 of the second nozzle (224L,224R). The first nozzle (222L, 222R) and the second nozzle (224L, 224R)may be arranged in a substantially vertical array, such as a leftvertical array (or left applicator 220L) on a left side of the nozzleassembly 60 or a right vertical array (or right applicator 220R) on aright side of the nozzle assembly 60.

In another configuration, each nozzle assembly 60 has a left verticalarray of nozzles (e.g., first nozzle 222L, second nozzle 224L and thirdnozzle 226L) and a right vertical array of nozzles (e.g., first nozzle222R, second nozzle 224R and third nozzle 226R). A first nozzle setcomprises a pair of upper nozzles or first nozzles (222L, 222R) on therow unit or nozzle assembly 60 facing opposite directions toward a leftfirst zone 432L and a right first zone 432R associated with adjacentrows of plants. A second nozzle set comprises a pair of intermediatenozzles or second nozzles (224L, 224R) on the row unit or nozzleassembly 60 facing opposite directions toward a left second zone 434Land a right second zone 434R. Further, a third nozzle set comprises apair of lower nozzles or third nozzles (226L, 226R) on the row unit ornozzle assembly 60 facing opposite directions toward a left third zone436L and right third zone 436R.

In one embodiment, the first nozzle (222L, 222R) comprises an uppernozzle at an upper height 68 above the ground and wherein the secondnozzle (224L, 224R) comprises an intermediate nozzle at an intermediateheight 69, respectively) above the ground. In an illustrative example,the upper nozzle or first nozzle (222L, 222R) is directed at a firstdown-tilt angle 431 with respect to the vertical axis toward the firstzone (432L, 432R) the intermediate nozzle or second nozzle (224L, 224R)is directed at a second down-tilt angle 433 with respect to a verticalaxis toward the second zone (434L, 434R). In one embodiment, a lowernozzle or third nozzle (226L, 226R) is at a lower height above groundbelow the intermediate nozzle, wherein the lower nozzle is directed at athird down-tilt angle 435 with respect to a vertical axis toward a thirdzone (436L, 436R).

A nozzle control module 50 is adapted to control, select, or activateautomatically one or more of the nozzles of the nozzle assembly 60 basedto cover the first zone (432L, 432R), the second zone (434L, 434R), orboth as a target zone for the plant row segment based on the measureddistance. For example, the nozzle control module 50 is adapted tocontrol, select or activate any permutation or combination of a firstnozzle (222L, 222R), a second nozzle (224L, 224R) and/or a third nozzle(226L, 226R) based on maximum coverage (with a sprayed crop input) of atarget zone around the plant 66 (e.g., plant stem), a plant row, or aseries of plants 66 (e.g., stems) based on the first zone (432L, 432R),the second zone (434L, 434R), the third zone (436R, 436L) and themeasured distance (116L, 116R). In some configurations, the first zone(432L, 432R), second zone (434L, 434R) and third zone are configured asstrips that are parallel to each other and with respect to one or moreplant rows, where the first zone (432L, 432R), second zone (434L, 434R)and third zone (436R, 436L) are associated with a corresponding plantrow.

In another embodiment, the nozzle control module 50 (e.g. nozzleselection module) controls or selects the nozzle assembly 60. The nozzlecontrol module 50 may comprise an electronic controller. In particular,the nozzle control module 50, the plant proximity module 52, or both maycomprise electronic devices that are separate from the second datastorage device 46 and that are not stored in the second data storagedevice 46. For example, the nozzle control module 50 controls or selectsthe nozzle based on one or more measured distances (116L, 116R) and userinput of the crop input, such as whether the crop input comprises anutrient or a non-nutrient application, where the target zone fornutrient crop inputs is directed toward a ground zone with reference tothe plant 66 (e.g., plant stem) and wherein the target zone fornon-nutrient crop inputs is directed toward a foliage zone with respectto the plant 66 (e.g., plant stem) or plant foliage.

In one embodiment, an optional plant height sensor 32 or imaging device34 may estimate the height of the plant or segment of a row of plants,which can be assigned one or more target zones or foliar target zones.Alternately, the user may enter, via the user interface 28, the averageor mean plant height in a field or from a prior survey of a field by anunmanned aerial vehicle.

In another embodiment, the nozzle control module 50 selects one or moreactive nozzles on the nozzle assembly 60 based on at least one of themeasured distance (116L, 116R), an observed height (68, 69, 62) of thenozzle with respect to ground and any offset between the nozzle assembly60 with respect to a target path between the rows of plants.Alternately, the user may input the observed height (68, 69, 62) of thenozzle with respect to the ground or input a sprayer vehicle 61 make andmodel number that is associated with such observed height information(68, 69, 62).

In another embodiment, the nozzle control module 50 (e.g., nozzleselection module) selects one or more nozzles on the nozzle assembly 60based on at least one of the measured distance (116R, 116L), an observedlocation of the sprayer in the field, and any offset between the nozzlehead with respect to a target path between the rows of plants. In oneexample, the nozzle control module 50 can reduce the lateral width ofthe spray pattern on demand for a particular crop row segments withnormal than targeted row width (between two adjacent crop rows) toprovide uniform application of fertilizer to crop rows or to applyfertilizer in accordance with differential application requirements.Similarly, in another example, as the sprayer vehicle 61 makes turns orheadland turns, as sensed by a change in the heading or yaw rate of thevehicle 61 from the location-determining receiver 10, inertialmeasurement unit of the location-determining receiver 10, oraccelerometer (e.g., of the location-determining receiver 10), thesecond data processor 38 or the nozzle control module 50 can reducedynamically the lateral width of the spray pattern on demand to avoidoverspray or unwanted application of fertilizer, unwanted application ofherbicide, or crop inputs that might damage crops or other vegetation. Achange in the heading, a mathematical derivative of the heading, or yawrate or accelerometer data can be indicative of a turn of the sprayervehicle 61, for instance.

In one embodiment, a target path comprises a centered path betweenadjacent ones of the rows where distances measured by the pair ofdistance sensors 30 are approximately equal and where the nozzle controlmodule 50 selects or activates (simultaneously) via one or moreactuators the pair of first nozzles (e.g., right upper nozzle 222L andleft upper nozzle 222R) or the pair of the second nozzles (e.g., rightlower nozzle 226L or right intermediate nozzle 224L, and left lowernozzle 226R or left intermediate nozzle 224R). The target path comprisesan offset path between adjacent ones of the rows where distancesmeasured by the pair of distance sensors (30, 130L, 130R) are differentby at least a minimum threshold and wherein the nozzle selection moduleselects or activates one of the first nozzles (222L, 222R) and one thesecond nozzles (224L, 224R) such that the different zones (e.g., stripson the soil or on the plant row segments) are substantially targeted foradjacent rows of the plants.

The nozzle control module 50 is adapted to select or activate nozzles onthe row units or nozzle assemblies 60 independently from the other rowunits (or in synchronization or coordination with the other row units onthe implement) based on the measured distances from the correspondingpair of distance sensors (30, 130L, 130R) and based on the location ofthe sprayer in the field. For example, the nozzle control module 50 isadapted to select or control the nozzles on the row unit such that thereis compensation in the spray patterns for growth variation in the rowsof plants or variation or error in the as-planted spacing betweenadjacent rows of plants. For example, the compensation in the spraypatterns can account for guess rows or errors in adjacent passes orswaths of planters, for manually driven planting, or for plantingwithout use of precise position data from a satellite navigationreceiver 10.

As used in this document, the proximate plant portion comprises aclosest or nearest plant stem (66 166L, 166R) in a row of crop. In oneconfiguration, the first zone (432L, 432R) and second zone (434L, 434R)comprise adjacent bands or strips on the ground near the proximate plantportion. Further, a third zone (436L, 436R), which comprises a centralzone closest to the center point or centerline, between adjacent plantrow segments may be adjacent band or strip to the second zone. Althoughin some configurations there is no or minimal overlap between the firstzone (432L, 432R) and the second zone (434L, 434R), or between thesecond zone and third zone (436L, 436R), in other configurations theremay be overlap between any two zones.

In one configuration, the first data processor 14 and the user interface28 facilitate proper control of the spray patterns (75, 77, 79) fromeach nozzle assembly 60. As noted, a first data processor 14 is capableof communication with the guidance module and a user interface 28 iscoupled to the first data processor 14. Data may be inputted into theuser interface 28 in accordance with various examples, which may beapplied separately or cumulatively. In first example, the user interface28 supports entry of the crop input and ancillary data including any ofthe following: (1) whether the crop input comprises a nutrient or anon-nutrient application, and (2) if the crop is for nutrientapplication, the growth stage, planting date 83 or height of the cropsor plants. In second example, the user interface 28 supports entry ofthe average, median, or mean plant height in a row, field or zone ofcrop, or the average, median or mean lateral width or span of the leafcanopy of the plant in a row, field or zone of crop. In a third example,a user interface 28 is coupled to the first data processor 14, the userinterface 28 supporting entry of observed height of the nozzle withrespect to the ground or input a sprayer make and model number that isassociated with such observed height information.

Based upon one or more of the examples of data inputted into the userinterface 28, the first data processor 14 or the nozzle control module50 may adjust the target zone for nutrient crop inputs to be directedtoward a certain zone (e.g., first zone (432L, 432R), second zone (434L,434R), third zone (436L, 436R) or ground zone) with a correspondinglateral separation distance 366 with reference to the plant 66 (e.g.,plant stem). Similarly, the first data processor 14 may direct thetarget zone for non-nutrient crop inputs to be directed toward a foliagezone with respect to the plant stem (66, 166L, 166R) or plant foliage.

In one embodiment, a first distance sensor (30 or 130L) on a first sideof the row unit estimates a first estimated distance between the rowunit and a first plant or first row of plants. In addition, a seconddistance sensor (30 or 130R), on a second side of the row unit oppositethe first side, estimates a second estimated distance between the rowunit and second plant or second row of plants. Accordingly, nozzlecontrol module 50 is adapted to select different ones of the nozzles, onopposite sides of the row unit if the first estimated distance differsfrom the second estimated distance.

In an alternate embodiment, a plant height sensor 32 or imaging device34 is adapted to estimate a plant height 266 of the plants in plantrows, which can be assigned one or more corresponding target zones orfoliar target zones. In turn, the second data processor 38 or the nozzlecontrol module 50 selects or activates one or more nozzles (222L, 224L,226L, 222R, 224R, 226R) via a corresponding actuators (44, 47, 148, 144,147, 48, respectively) based on at least one of the measured distance,an observed height (62, 69, 68) of the nozzle with respect to ground,the observed position of the sprayer vehicle 61, and any lateral offsetbetween the nozzle assembly 60 with respect to a target path (e.g.,center point or center line, spaced equidistantly to each plant rowstem) between the rows of plants.

FIG. 2 is a perspective front view of an illustrative sprayer vehicle 61and implement that hosts the system of FIG. 1. The sprayer vehicle 61has a tank 65 or tows a trailer with a tank 65 thereon, where the tank65 contains crop inputs for spraying or application to plants, soil, orthe field. The sprayer vehicle 61 supports boom assembly 54. Asillustrated in FIG. 2 and in FIG. 3, the boom assembly 54 comprises alower boom member 58 and an upper boom member 56 that are connected viaa boom braces 57. The boom assembly 54 supports one or more nozzleassemblies 60 or nozzle heads per row unit. For example, a primarynozzle assembly 60 is supported by the boom 54 to treat or spray a firstrow and a second row of crop, whereas a secondary nozzle assembly 60 issupported by the boom 54 to treat or spray a second row of crop and athird row of crop, where the nozzle control module 50 controls,separately and independently, or in synchronization or coordination, theprimary nozzle assembly 60 and the second nozzle assembly 60 for thetargeted application of crop inputs and coverage of the crop inputs.Each primary and second nozzle assembly 60 may contain one or morevertical arrays of nozzles. A first vertical array is defined by anarray of left nozzles (222L, 224L, 226L), whereas a second verticalarray of nozzles (222R, 224R, 226R) is defined by an array of secondnozzles. The nozzle assemblies 60 are fed via supply lines (76, 64) thatare connected or coupled to the tank 65 or a pump 92 associated with thetank 65 that contains material 101 or other crop input.

FIG. 3 is a rear view of the sprayer implement of FIG. 2 as viewed alongreference line 2-2 of FIG. 2. FIG. 3 is similar to FIG. 2, except FIG. 2shows the relation of respective nozzle assemblies 60 to correspondingplant rows (of plants or plants 66 (e.g., stems)) of the sprayer vehicle61. Each nozzle assembly 60 has a vertical array of nozzles. Asillustrated, each nozzle assembly 60 has a pair of lower nozzles (226L,226R), a pair of intermediate nozzles (224L, 224R) and a pair of uppernozzles (222L, 222R). Each lower nozzle or pair of lower nozzles (226L,226R) has a lower nozzle height 62. Each intermediate nozzle or pair ofintermediate nozzles (224L, 224R) has an intermediate nozzle height 69.Each upper nozzle or pair of upper nozzles (226L, 226R) has an uppernozzle height 68.

FIG. 4 is an enlarged view of the rectangular region 4 in FIG. 3, wherethe region 4 includes a nozzle head or nozzle assembly 60. For each rowunit, a vertical supply line 64 is connected to an input port of amanifold 214. Output ports of the manifold 214 are coupled to nozzles(222L, 224L, 226L, 222R, 224R, 226R) via nozzle actuators (44, 47, 148,144, 147, 48), such as electrohydraulic valves, that control the flow(e.g., on or off, or volume and pressure) of fluid between the manifold214 and the nozzles to produce a desired spray pattern or radiationpattern of one or more crop inputs. The nozzle actuators (44, 47, 148,144, 147, 48) are associated with a communications and power lines thatprovide communications from the implement data processing system 42 andelectrical energy to power the nozzle actuators (44, 47, 148, 144, 147,48) and distance sensors (30, 130L, 130R) of each nozzle assembly 60.Fluid or liquid that contains, suspends or dissolves crop inputs arehydraulically communicated or conveyed from the tank 65 to the nozzlesvia the supply lines (64, 76) and manifold 214. As shown, the distancesensor comprises a right distance sensor (30 or 130R) and a leftdistance sensor (30 or 130L), where the left distance sensor 130Ldetermines a left range or left distance between a left side of thenozzle assembly 60 and first plant row and wherein a right distancesensor (30 or 130R) determines a right range or right distance between aright side of the nozzle assembly 60 and a second plant row that isseparated from the first plant row and adjacent to the first plant row.The second data processor 38 may use the right range or right distanceand the left range or the left distance to estimate the lateral positionof the row unit or nozzle assembly 60 between rows of plants; hence,adjust the control, selection or activation differentially of certain(pairs of) right and left nozzles to compensate for the lateral offset(of the nozzle assembly from a center point between adjacent rows ofplants (166R, 166L)) and still deliver uniform spray pattern coverage(e.g., uniform dosing/application/concentration) of crop input to bothrows of plants (e.g., with a spray pattern that uses different nozzleson the right and left sides of the nozzle assembly 60).

As illustrated in FIG. 4, the pair of upper nozzles comprises a leftupper nozzle 222L and a right upper nozzle 222R, where the upper leftnozzle 222L has a first down-tilt angle 431L and a right upper nozzle222R has a first down-tilt angle 431R from a substantially verticalaxis; the pair of intermediate nozzles comprises a left intermediatenozzle 224L and a right intermediate nozzle 224R, where the leftintermediate nozzle 224L has a second down-tilt angle 433L and the rightintermediate nozzle 433R has a second down-tilt angle 433R from asubstantially vertical axis; the pair of lower nozzles comprises a leftlower nozzle 226L and a right lower nozzle 226R, where the left lowernozzle 226L has a third down-tilt angle 435L from a substantiallyvertical axis and where the right lower nozzle 226R has a thirddown-tilt angle 435R from the vertical axis. In one embodiment, thefirst down-tilt angle is less than the second down-tilt angle. Further,the second down-tilt angle is less than the third down-tilt angle.

In one embodiment, the nozzle control module 50 is capable of selectinga new combination or permutation of nozzles of each nozzle assembly 60for each time interval for substantial alignment with a dynamicallyadjustable target zone associated with corresponding plant row segmentsbased on the observed position of the sprayer vehicle 61 in the field.As the sprayer vehicle 61 moves through the field, each nozzle assembly60 or row unit faces a series of adjacent row segments with: (1)potentially different spacing or different lateral offset to the nozzleassembly 60 with respect to a center point or center line betweenadjacent plant row segments, (2) potentially different growth stages ofplants or crop input requirements, (3) potentially differentprescriptions for crop inputs based on zones. The second data processor38 and the nozzle control module 50 can control, activate and deactivatenozzles of each nozzle assembly 60 on the boom 54 to provide the properor appropriate customized application of crop inputs for each rowsegment, such as by directing, on a row-by-row basis, the spray patterntoward one or more left zones or rights zones on each side of the nozzleassembly 60. Within the left applicator 220L or vertical nozzle array ofthe nozzle assembly 60, a set of nozzle actuators (44, 47, 148) canselectively and independently actuate, control (e.g., volume and/orpressure) activate or deactivate any one or more nozzles, including anypermutation of activated nozzles or deactivated nozzles or one or morecorresponding intervals as the sprayer vehicle 61 moves or progressesthrough the field. Within the right applicator (220R) or vertical nozzlearray of the nozzle assembly 60, a set of nozzle actuators canselectively and independently control actuate, activate or deactivateany one or more nozzles, including any permutation of activated nozzlesor deactivated nozzles for an interval as the sprayer vehicle 61progresses through a field with two or more rows.

The first nozzle actuator 44 can dynamically control, activate ordeactivate the corresponding left upper nozzle 222L for one or moreintervals in response to control signals or data from the nozzle controlmodule 50 (or the second data processor 38) and position data from thelocation-determining receiver 10, consistent with: the target placementdata 72, vehicle/implement data 64 and/or application rate data 70 forthe applied or sprayed crop inputs. The second nozzle actuator 47 cancontrol, activate or deactivate the corresponding left intermediatenozzle 224L for one or more intervals in response to control signals ordata from the nozzle control module 50 (or the second data processor 38)and position data from the location-determining receiver 10, consistentwith the target placement data 72, application rate data 70 andvehicle/implement data 64 for the applied or sprayed crop inputs. Thethird nozzle actuator 148 can control, activate or deactivate thecorresponding left lower nozzle 226L for one or more intervals inresponse to control signals or data from the nozzle control module 50(or the second data processor 38) and position data from thelocation-determining receiver 10, consistent with the target placementdata 72, application rate data 70 and/or vehicle implement data 74 forthe applied or sprayed crop inputs. The fourth nozzle actuator 144 cancontrol, activate or deactivate the corresponding right upper nozzle222R for one or more intervals in response to control signals or datafrom the nozzle control module 50 (or the second data processor 38) andposition data from the location-determining receiver 10, consistent withthe target placement data 72, application rate data 70,vehicle/implement data 74 for the applied or sprayed crop inputs. Thefifth nozzle actuator 147 can control, activate or deactivate thecorresponding right intermediate nozzle 224R for one or more intervalsin response to control signals or data from the nozzle control module 50(or the second data processor 38) and position data from thelocation-determining receiver 10, consistent with the target placementdata 72, application rate data 70 and vehicle implement data 74 for theapplied or sprayed crop inputs. The Nth nozzle actuator 48 (e.g., sixthnozzle actuator) can control, activate or deactivate the correspondingright lower nozzle 226R for one or more intervals in response to controlsignals or data from the nozzle control module 50 (or the second dataprocessor 38) and position data from the location-determining receiver10, consistent with the target placement data 72, application rate data70, and vehicle/implement data 74 for the applied or sprayed cropinputs.

FIG. 5 illustrates a lateral separation or alignment of the nozzleassembly 60 to adjacent rows of plants (66, 166L, 166R) and target zones(e.g., target root zones) on the ground. The tank 65 in FIG. 5 containsfluid or liquid material 101, such as a crop input for spraying orapplication to crop, plants or the soil, or pests or weeds within thevicinity of the crop, plants or soil. The pump 92 in or external to thetank 65 is capable of pumping the fluid or liquid material 101 to thenozzle assembly 60 or nozzle head via a network of supply lines (76,64).

A best illustrated in FIG. 5, the nozzles (222L, 224L, 226L, 222R, 224R,226R) are directed toward different target zones or strips, which areassociated with the ground near a left plant row and right plant row.However, in other configurations, it is understood that the nozzles(222L, 224L, 226L, 222R, 224R, 226R) can be configured to direct thetarget zones or strips at foliage above the ground. As shown in FIG. 5the left nozzles (222L, 224L, 226L) are arranged in a vertical arraycomprising the left upper nozzle 222L at an upper height 68 aboveground, a left intermediate nozzle 224L at an intermediate height 69above ground, and a left lower nozzle 226L at a lower height 62 aboveground. The left upper nozzle 222L has a first spray pattern 75 or anupper spray pattern directed at a left first zone 432L, which has theclosest lateral offset 366 to the left plant row 166L. The leftintermediate nozzle 224L has a second spray pattern 77 or anintermediate spray pattern directed at a left second zone 434L, whichhas an intermediate lateral offset to the left plant row 166L. The leftlower nozzle 226L has a third spray pattern 79 or lower spray patterndirected at a third first zone 436L, which is closest to a central pointbetween the two adjacent plant rows or which has the greatest lateraloffset to the left plant row (e.g., a stem or trunk of one or moreplants in the left plant row).

The implement data processing system 42 or the nozzle control module 50selects or controls the appropriate or proper activation of one or morenozzles within the left array (222L, 224L, 226L) of the nozzle assembly60 to cover any combination of one or more following zones: the leftfirst zone 432L, the left second zone 434L or left intermediate zone,and the left third zone 436L, which may be based on an observed ormeasured distance between the left plant row and the nozzle assembly 60,or an observed or measured distance between the right plant row and thenozzle assembly 60, along with botany, plant science, agronomic data,agricultural prescriptions, or horticultural recommendations. Forexample, the crop input (e.g., fertilizer or soil treatment) may betargeted to a certain root zone of a treated plant or treated segment ofthe (left) crop row based on: the crop maturity level, crop height, thelateral width of the foliage, or lateral width leaf canopy of the croprow, as observed by sensors or input data entered by an operator of thesprayer vehicle 61.

As shown in FIG. 5 the right nozzles (222R, 224R, 226R) are arranged ina vertical array comprising the right upper nozzle 222R at an upperheight 68 above ground, a right intermediate nozzle 224L at anintermediate height 69 above ground, and a right lower nozzle 226R at alower height 62 above ground. The right upper nozzle 222R has a firstspray pattern 75 or an upper spray pattern directed at a right firstzone 432R, which has a closest lateral offset to the right plant row ofplants 166R. The right intermediate nozzle 224R has a second spraypattern 77 or an intermediate spray pattern directed at a right secondzone 434R, which has an intermediate lateral offset to the right plantrow of plants 166R. The right lower nozzle 226R has a third spraypattern 79 or lower spray pattern directed at a third first zone 426R,which is closest to a central point between the two adjacent plant rowsor which has the greatest lateral offset to the right plant row (e.g., astem or trunk of one or more plants in the right plant row) of plants166R. The implement data processing system 42 or the nozzle controlmodule 50 selects or controls the appropriate or proper activation ofone or more nozzles within the right array of the nozzle assembly 60 tocover any combination of one or more following zones: the right firstzone 432R, the right second (or right intermediate) zone 434R and/or theright third zone 436R, which may be based on an observed or measureddistance between the left plant row and the nozzle assembly 60, or anobserved or measured distance between the right plant row and the nozzleassembly 60, along with botany, plant science, agronomic data,agricultural prescriptions or horticultural recommendations. Forexample, the crop input (e.g., fertilizer or soil treatment) may betargeted to a certain root zone of a treated plant 66 or treated segmentof the (right) crop row based on: the crop maturity level, crop heightor plant height 266, the lateral width of the foliage, or lateral widthleaf canopy of the crop row, as observed by sensors or input dataentered by an operator of the sprayer vehicle 61. Although FIG. 5 showsright nozzles (222R, 224R, 226R) in a vertical array, in alternateembodiments they may be in a substantially horizontal array, a diagonalarray, or any other spatial relationship with each other so long as eachdischarges crop input, via a corresponding spray zone (e.g., sprayzones, 75, 77 and 79), directed toward the right first zone 432R, rightsecond zone 434R and right third zone 436R. Similarly, in alternateembodiments, the left nozzles (222L, 224L, 226L) may be arranged insubstantially horizontal array, a diagonal array, or any other spatialrelationship with each other such that the crop inputs are directedtoward the left first zone 432L, left second zone 434L and left thirdzone 436L.

As used in this document, the first zone may refer to the left firstzone (432L), the right first zone (432R) or both; second zone may referto the left second zone (434L), the right second zone (434R), or both;the third zone may refer to the left third zone (436L), the right thirdzone (436R), or both. The zones may be altered by changing the down-tiltangles (4311, 433L, 435L, 431R, 433R, 435R) or other compound anglesthat define the direction that the crop input leaves each nozzle. Forexample, the operator can manually reduce the down-tilt of one or morenozzles in the nozzle assembly 60 to treat or spray the foliage of oneor more segments of plant rows in accordance with a treatment plan forfungicide, pesticide, insecticide or herbicide.

FIG. 6 is an alternate embodiment of a block diagram of a system forspraying plants. The system of FIG. 6 is similar to the system of FIG.1, except that the vehicle data processing system 12 further comprisesplant maturity estimator 80, target root zone estimator 82, and a clock84, along with the data references to the application date 81, andplanting date 83. Like reference numbers in FIG. 1 and FIG. 6 indicatelike features or elements.

FIG. 6 further comprises an optional imaging device 34 (e.g., stereoimaging device) and other optional modules related to the imaging device34, such as a plant identifier 89 module, a plant height measurement 90module and an image processing module 91 (e.g., stereo image processingmodule). The imaging device 34 and modules are indicated as optional bythe dashed lines and will be described later in this document.

In FIG. 6, the user interface 28 allows the user to enter, download orinput information about the planted crop or seeds to establish aplanting date 83 for the crop in a particular field. The first dataprocessor 14 receives the input about the planting date 83 from the userinterface 28 and the current date from the clock 84 or user interface 28to estimate the number of days or corresponding maturity state of theplanted crop. For example, the plant maturity estimator 80 estimatesgrowing degree days of the crop based on the field zone 86 oragricultural region in which the particular field is located byobserving coordinates of the location-determining receiver 10 or userinput into the user interface 28 that indicates the field location orfield zone 86. As used throughout this document, a growing degree daymay refer to a single growing degree day or accumulated growing degreedays, such as the sum of growing degree days over a time period orgrowing season. In one embodiment, the vehicle data processing system 12may obtain or use the application date 81 of fertilizer or nutriententered by an operator via the user interface 28. In another embodiment,to enhance the accuracy of the plant maturity estimate determined by theplant maturity estimator 80, the vehicle data processing system 12 orplant maturity estimator 80 may use or obtain local historicalprecipitation, rainfall, or other historical weather data fromcommercially available sources accessed through a wireless network, anelectronic communications network or on the Internet via a wirelesscommunications device (e.g., wireless transceiver, cellular phone,satellite phone or smartphone) coupled to the first data ports 24.

In one embodiment, the target root zone estimator 82 provides a rootzone or target zone for crop inputs at, near or around the plant rowsbased on one or more of the following plant data: estimated plantheight, observed or measured plant height, estimated plant maturity,observed plant maturity, number of plant leaves, estimated drip line ofthe plant or plant row, estimated lateral width of the plant or rowsegment, or observed lateral width of the plant or row segment to betreated. For example, in one embodiment, the target root zone estimator82 provides a recommended zone, among the first zone (432L, 432R), thesecond zone (434L, 434R) or the third zone (436L, 436R), for eachcorresponding segment of a plant row consistent with the plant maturityor other plant data output of the plant maturity estimator 80 that iscorrelated to plant maturity.

In one embodiment, the optional plant identifier module 89, the optionalplant height measurement module 90 and a stereo image processing module91 receive data, such as image data (e.g., stereo image data) of plantrows from the imaging device 34. The optional plant identifier 89 modulecompares reference images of reference plants or reference foliagestored in the second data storage device 46 or elsewhere to observedimages of plants or foliage in one or more plant rows to identify thecrop type, species or variety and to estimate the crop maturity. Forexample, the reference images may comprise plants at various referencegrowth stages in accordance with established, recognized or generallyaccepted plant maturity levels. The reference images may be stored inthe form of raw images, normalized images, a list of plant parameters, aneural network, or any other suitable format.

In one embodiment, the plant height measurement module 90 estimates aplant height of an observed crop based on collected stereo image data inconjunction with the image processing module 91 (e.g., stereo imageprocessing module). First, the image processing module 91 may use colordifferentiation to distinguish plant pixels from background images(e.g., soil, sky or weeds) in the collected image data. For example, thesecond data storage device 46 contains reference plant pixels colors ora reference range of potential plant pixel colors for comparison tocollected image data. Second, the image processing module 91 mayestablish a constellation of plant pixels and a boundary region betweenplant pixels and background pixels. For example, the boundary region mayrepresent a substantially linear or curved line near at the verticallimit or top of a plant or row. Third, the observed three-dimensionalcoordinates of the collected image data in the boundary region areconverted to real world coordinates to estimate a plant height 266 ofplant or segment of a row of plants.

FIG. 7A is a plan view of one illustrative configuration of a row ofplants 66 within a field that shows root zones 466 of plants 66 andapplication zones (432R, 434R, 436R) for crop inputs with respect to theroot zones 466, which may be commensurate in size with, or proportionalto a plant diameter, foliage diameter or leaf canopy diameter. FIG. 7Aillustrates the following application zones for crop inputs: a rightfirst zone 432R, a second zone 434R, and a third zone 436R, as strips onthe field. As shown, the right first zone 432R is generally parallel tothe right second zone 434R and the right third zone 436R. Although thezones in FIG. 7A are shown as mutually exclusive or non-overlapping, inother configurations two or more zones may overlap with each other.

As illustrated in FIG. 7A, the right first zone 432R overlaps with aroot zone 466 of one or more plants 66 within a row. In particular, theright first zone 432R intercepts with or overlaps with stalk, stem,trunk or base 566 of one or more plants 66 with a row segment. The rightfirst zone 432R has a longitudinal axis that is aligned with a diameterof the root zone 466 of one or more plants 66 in the row segment.

The right second zone 434R intercepts with or overlaps with a root zone466 of one or more plants 66 within a row. For example, the right secondzone 434R or outer boundary of the right second zone 434R is aligned tointercept with a perimeter of the root zone 466 for each plant 66 withinthe row segment. In some configurations, the perimeter of root zone 466may be commensurate with the drip line or width of the plant canopy orfoliage width above the root zone 466.

In one illustrative example for carrying out the application plan ofcrop inputs consistent with FIG. 7A, the implement data processingsystem 42 or nozzle control module 50 may command or instruct the nozzleassembly 60 to activate (via actuator(s)) one or more nozzles directedtoward the right second zone 434R or the right first zone 432R forplants that are greater than a threshold maturity level (e.g., greaterthan a V5 maturity level for maize or corn, such as a V5 to VT maturitylevel). As illustrated in FIG. 7A, the right third zone 436R is spacedapart from the right second zone 434R is generally parallel to the rightsecond zone 434R by a lateral gap or safety gap to avoid over-applyingor overdosing one or more plants with fertilizer, such as plants thatare equal to or less than threshold maturity level (e.g., less than V5maturity level, such as a V5 to VE maturity for maize or corn plants).For example, the implement data processing system 42 or nozzle controlmodule 50 may command or instruct the nozzle assembly 60 to activate(via actuator(s)) one or more nozzles direct toward the right third zone436R to avoid damage to immature plants that are equal to or less thanthe threshold maturity level (e.g., less than V5 maturity level, such asa V5 to VE maturity for maize or corn plants).

FIG. 7B is a plan view of another illustrative configuration of a rowwithin a field that shows root zones of plants and application zones forcrop inputs with respect to the root zone. The plan view in FIG. 7B issimilar to the plan view in FIG. 7A, except the application zones, theright first zone 432 and the right second zone 434, comprise overlappingstrips. As illustrated, the outer boundary of the right first zone 432intercepts a perimeter of the root zone 466 of one or more plants 66 ina row. Meanwhile, a centerline axis of the right second zone 434substantially intercepts the perimeter of one or more root zones 466. Insome configurations, the perimeter of root zone 466 may be commensuratewith the drip line or width of the plant canopy, where the stem 566extends from the root zone 466 to the plant canopy.

In one illustrative example for carrying out the application plan ofcrop inputs consistent with FIG. 7B, the implement data processingsystem 42 or nozzle control module 50 may command or instruct the nozzleassembly 60 to activate one or more nozzles (via actuator(s)) directedtoward the right second zone 432, the right first zone 434, or both forplants that are greater than a threshold maturity level (e.g., greaterthan a V5 maturity level for maize or corn, such as a V5 to VT maturitylevel).

FIG. 7C is a plan view of two adjacent rows of plants (166R, 166L)within a field that shows root zones or commensurate foliage diameters666 of plants (166R, 166L) and which application zone(s) for crop inputsare selected for each crop row segment of a row. As illustrated in FIG.7C, the left first zone 432L overlaps with a respective root zone orfoliage diameter 666 of one or more left plants 166L within a left rowand the right first zone 432R overlaps with a respective root zone orfoliage diameter 666 of one or more right plants 166R within a rightrow. In particular, the left first zone 432L and right first zone 434Rintercept with or overlap with stalk, stem, trunk or base 566 of one ormore plants with each row segment. The left first zone 432L and theright first zone 432R have a longitudinal axis that is aligned with adiameter of the respective foliage diameter 666 or root zone of one ormore plants in each row segment.

The left second zone 434L intercepts with or overlaps with a respectivefoliage diameter 666 or root zone of one or more left plants 166L withina left row and the right second zone 434R intercepts with or overlapswith a respective foliage diameter 666 or root zone of one or more rightplants 166R within the right row. For example, the left second zone 434Lor outer boundary of the left second zone 434L is aligned to interceptwith a perimeter of the respective foliage diameter 666 or root zone foreach plant within each row segment. Similarly, the right second zone434R or outer boundary of the right second zone 434R is aligned tointercept with a perimeter of the respective foliage diameter 666 or theroot zone for each plant within each row segment. In someconfigurations, the perimeter of root zone may be commensurate with orsubstantially equal the drip line, width of the plant canopy, or foliagediameter 666.

The right third zone 436R is spaced inward from the right plant row 166Rand the right second zone 434R. Similarly, the left third zone 426L isspaced inward from the left plant row 166L and the left second zone434L. As illustrated, the right third zone 436R and the left third zone436L are strips that are substantially parallel to the right second zone434R and left second zone 434L, respectively.

The left plant row 166L and the right plant row 166R are divided intothree row segments (709, 710, 711), where each row segment (709, 710, or711) has a longitudinal length, such as a longitudinal length in thedirection of travel of a sprayer vehicle. In FIG. 7C, the second dataprocessor 38 or the nozzle control module 50 is adapted to activate oneor more nozzles of a nozzle assembly 60 to produce or cover theexemplary patterns indicated by the cross-hatched regions (701, 702,703, 704, 706, 708) of the left first zone 432L, left second zone 434L,left third zone 436L, right first zone 432R, right second zone 434R, andright third zone 436R. Although only one zone (432L, 434L, 436L) isactivated for each corresponding left row region (701, 702, 703) orsegment in FIG. 7C, in practice one or more zones (432L, 434L, 436L,432R, 434R, 436R) may be active for each corresponding left row segmentand right row segment. For example, for the first row segment 709, thesecond data processor 38 or the nozzle control module 50 activates thenozzle assembly 60 to cover the left third zone 436L and the rightsecond zone 434R; for the second row segment 710, the second dataprocessor 38 or the nozzle control module 50 activates the nozzleassembly 60 to cover the left second zone 434L and the right third zone435R; for the third row segment 711, the second data processor 38 or thenozzle control module 50 activates the nozzle assembly 60 to cover theleft first zone 432L and the right second zone 434R. The target zoneestimator 80 and application plan module 22 may determine theapplication zones (e.g., within the illustrative example of FIG. 7C)based on estimated plant maturity, estimated plant height, plant heightmeasurement data 90, growing degree days data (e.g., accumulated growingdegree data), or other location specific data of the plants as thevehicle progresses through the rows of the field to avoid damage andprovide targeted level of nutrients on a site-specific or plant-specificbasis within each row segment (709, 710, 711).

In an alternate embodiment, FIG. 7C may be modified for use inconjunction with the nutrient application system of FIG. 12. Forexample, the nutrient knifes 99 of FIG. 16 are spaced laterally apartfrom root zones of each plant (166R, 166L) by a lateral clearance(distance) based on plant height measurement data 90 (or stereo imagedata from the imaging device 34, or estimated plant maturity data fromthe plant maturity estimator 80) within each row segment (709, 710,711), where the lateral clearance prevents damage to the roots withinthe root zone. Accordingly, the data processor(s) (14, 38) of FIG. 12controls actuators (180, 280, 380) on a row segment by row segment basisbased on plant height measurement data 90 (or stereo image data from theimaging device 34, or estimated plant maturity data from the plantmaturity estimator 80) for each respective row segment (709, 710, 711).

FIG. 8 is a flow chart of one embodiment of a method for applyingnutrients to plants. The flow chart of FIG. 8 begins in step S801.

In step S801, the first data processor 14 or the plant maturityestimator 80 determines a growth state or maturity state of a plant (66,166L, 166R) or plant row segment based on a planting date, a currentdate and the crop type of the plant. For example, the plant maturityestimator 80 may subtract the planting date of the plant from thecurrent date to estimate one or more of the following: growing days,growing degree days (e.g., accumulated growing degree days), plantheight, stem or base diameter, and plant maturity.

Step S801 may be carried out by various techniques, which may be appliedseparately or cumulatively. Under a first technique, the growing degreedays may be used to estimate plant height or plant maturity for aparticular crop. Under a second technique, the first data processor 14or the plant maturity estimator 80 determines accumulated growing degreedays by adding the sum of growing degree days over a growing duration,where each individual growing degree day (in the sum) is determined bysubtracting a reference temperature for a particular plant type, speciesor variety (e.g., corn or soybeans) from an average daily temperaturefor the corresponding day. Under a third technique, the first dataprocessor 14 or the plant maturity estimator 80 estimates growth stateor the plant maturity based on growing degree days derived fromtemperature data for the geographic area associated with the plant, theplanting date, the current date and the crop type of the plant. Under afourth technique, the first data processor 14 or the plant maturityestimator 80 may receive or obtain precipitation data (e.g., rainfall),sunlight data, temperature data, and growing days (e.g., via the userinterface 28 or online commercially available data sources) to estimateplant maturity in accordance with a plant maturity estimator module 80for particular crop in a corresponding geographic area.

Under a fifth technique, the first data processor 14 or the plantmaturity estimator 80 adjusts the determined growth state or maturitystate for the plant based on collected stereo image data predominatingover the derived growing degree days, where the imaging system 34collects stereo image data on the plant to evaluate a plant size orplant height to verify the determined growth state or maturity state forthe plant. In alternate embodiments, the imaging system 34 may comprisea monocular imaging device, a laser scanner, a LIDAR (light detectionand ranging) device, a laser range finder, or another suitable sensorfor estimating the plant size, width, volume or height of one or moreplants.

Under a sixth technique, the first data processor 14 or the plantmaturity estimator 80 adjusts the determined growth state or maturitystate, where the height sensor 32 or imaging system 34 collects observedplant height data on the plant to verify the determined growth state ofmaturity state for the plant. For example, the first data processor 14or the plant maturity estimator 80 adjusts the determined growth stateor maturity state for the plant based on the observed plant heightpredominating of the derived growing degree days.

Under a seventh technique, the first data processor 14 or the plantmaturity estimator 80 estimates the growth state or plant maturity isbased on a growth model that uses a historic mean, average or medianprecipitation for the location of the plant, the planting date, thecurrent date and the crop type of the plant.

Under an eighth technique, the first data processor 14 or the plantmaturity estimator 80 estimates the growth state or plant maturity isbased on observed rainfall or precipitation for the field or regionassociated with the plant.

In step S802, the first data processor 14 or target root zone estimator82 estimates the root size, root radius, root diameter of the root zone466 of the plant (66, 166L, 166R) or plant row segment based on thedetermined plant maturity or grow state.

In an alternate embodiment, the first data processor 14 or target rootzone estimator 82 estimates the root size, root radius, root diameter ofthe root zone (e.g., 466) of the plant (66, 166L, 166R) or plant rowsegment based on the determined plant maturity or grow state.

In step S803, the second data processor 38 or nozzle control module 50adjusts a lateral offset of the spray pattern (75, 77, 79) of a nozzleassembly 60 based on the estimated root size, root radius, root diameter(e.g., of the root zone 466) to target alignment or maximization ofoverlap area of a strip (e.g., first zone (432L, 432R), second zone(434L, 434R) or third zone (436L, 436R)) of the spray pattern (75, 77,79) with the corresponding root zone (e.g., 466)).

Step S803 may be accomplished in accordance with one or more techniques,which may be applied separately or individually. Under a firsttechnique, the lateral offset of the spray pattern (75, 77, 79) may bebased on the lateral offset of the nozzle assembly 60 from a centeredrow position with respect to the right plant row 166R, the left plantrow 166L, or both as measured or observed by one or more distancesensors (30, 130L, 130R). In turn, the plant proximity processing module52 may interpret or filter (e.g., average) the observed lateral offset(from the centerline of the row, as determined by a location-determiningreceiver (10 or 110)) of the nozzle assembly 60 from the distancesensors (30, 130L, 130R) for each respective row segment (e.g., 709,710, 711) or interval.

Under a second technique, the nozzle control module 50 or second dataprocessor 38 activates one or more left nozzles (222L, 224L, 226L) ofthe nozzle assembly 60 to direct crop input differently for each leftrow segment (709, 710, 711 in FIG. 7C) toward any permutation of a leftfirst zone 432L, a left second zone 434L or a left third zone 436L basedon the maturity level of one or more left plants 166L in the left rowsegment (709, 710, 711) and a lateral offset to a center point betweenadjacent row segments.

Under a third technique, the nozzle control module 50 or second dataprocessor 38 activates one or more right nozzles (222R, 224R, 226R) ofthe nozzle assembly 60 to direct crop input differently for each rightrow segment (709, 710, 711 in FIG. 7C) toward a right first zone 432R, aright second zone 434R or a right third zone 436R based on the maturitylevel of one or more right plants 166R in the right row segment and alateral offset to a center point between adjacent row segments.

FIG. 9 is a flow chart of another embodiment of a method for applyingnutrients to plants. Like reference numbers in FIG. 8 and FIG. 9indicate like steps or procedures.

In step S801, the first data processor 14 or the plant maturityestimator 80 determines a growth state or maturity state of a plant (66,166L, 166R) or plant row segment based on a planting date, a currentdate and the crop type of the plant. For example, the plant maturityestimator 80 may subtract the planting date of the plant from thecurrent date to estimate one or more of the following: growing days,growing degree days, plant height, stem or base diameter, and plantmaturity.

Step S801 may be carried out by various techniques, which may be appliedseparately or cumulatively. Under a first technique, the growing degreedays may be used to estimate plant height or plant maturity for aparticular crop. Under a second technique, the first data processor 14or the plant maturity estimator 80 determines growing degree days bysubtracting a reference temperature for a particular plant type, speciesor variety (e.g., corn or soybeans), from an average daily temperaturefor a growing duration. Under a third technique, the first dataprocessor 14 or the plant maturity estimator 80 estimates growth stateor the plant maturity based on growing degree days derived fromtemperature data for the geographic area associated with the plant, theplanting date, the current date and the crop type of the plant. Under afourth technique, the first data processor 14 or the plant maturityestimator 80 may receive or obtain precipitation data (e.g., rainfall),sunlight data, temperature data, and growing days (e.g., via the userinterface 28 or online commercially available data sources) to estimateplant maturity in accordance with a plant maturity estimator module 80for particular crop in a corresponding geographic area.

Under a fifth technique, the first data processor 14 or the plantmaturity estimator 80 adjusts the determined growth state or maturitystate for the plant based on collected stereo image data predominatingover the derived growing degree days, where the imaging system 34collects stereo image data on the plant to evaluate a plant size orplant height to verify the determined growth state or maturity state forthe plant.

Under a sixth technique, the first data processor 14 or the plantmaturity estimator 80 adjusts the determined growth state or maturitystate, where the height sensor 32 or imaging system 34 collects observedplant height data on the plant to verify the determined growth state ofmaturity state for the plant. For example, the first data processor 14or the plant maturity estimator 80 adjusts the determined growth stateor maturity state for the plant based on the observed plant heightpredominating of the derived growing degree days.

Under a seventh technique, the first data processor 14 or the plantmaturity estimator 80 estimates the growth state or plant maturity isbased on a growth model that uses a historic mean, average or medianprecipitation for the location of the plant, the planting date, thecurrent date and the crop type of the plant.

Under an eighth technique, the first data processor 14 or the plantmaturity estimator 80 estimates the growth state or plant maturity isbased on observed rainfall or precipitation for the field or regionassociated with the plant.

In step S802, the first data processor 14 or target root zone estimator82 estimates the root size, root radius, root diameter of the root zone466 of the plant (66, 166L, 166R) or plant row segment based on thedetermined plant maturity or grow state.

In an alternate embodiment, the first data processor 14 or target rootzone estimator 82 estimates the root size, root radius, root diameter ofthe root zone (e.g., 466) of the plant (66, 166L, 166R) or plant rowsegment based on the determined plant maturity or grow state.

In step S803, the second data processor 38 or nozzle control module 50adjusts a lateral offset of the spray pattern (75, 77, 79) of a nozzleassembly 60 based on the estimated root size, root radius, root diameter(e.g., of the root zone 466) to target alignment or maximization ofoverlap area of a strip (e.g., first zone (432L, 432R), second zone(434L, 434R) or third zone (436L, 436R)) of the spray pattern (75, 77,79) with the corresponding root zone (e.g., 466)). For example, thelateral offset of the spray pattern may be based on the lateral offsetof the nozzle assembly from a centered row position with respect to theright plant row 166R, the left plant row 166L, or both as measured orobserved by one or more distance sensors (30, 130L, 130R). In turn, theplant proximity processing module 52 may interpret or filter (e.g.,average) the observed lateral offset (from the centerline of the row, asdetermined by a location-determining receiver (10 or 110)) of the nozzleassembly 60 from the distance sensors (30, 130L, 130R) for eachrespective row segment (e.g., 709, 710, 711) or interval.

In step S804, an imaging device 34 (e.g., stereo imaging digital camera)collects stereo image data on the plant to evaluate a plant size orplant height to verify the determined grow state or maturity state forthe plant or row segment of plants.

In step S805, the first data processor 14 or the plant maturityestimator 80 determines or adjusts a grow state or maturity state forthe plant based on the collected stereo image data (e.g., or associatedplant height derived from the stereo image data) predominating overrequisite growing degree days (or maturity derived from a maturity modelbased on observed growing time, precipitation data, sunlight data, andtemperature data for the growing area) estimated based on the plantingdate, the current date and crop type. In an alternate embodiment, plantmaturity data could be determined from a plant image (e.g., corn plantimage) collected by an imaging device 34 or by counting leaves ormeasuring (e.g., integrating over) vegetation spatial area or volume.The imaging device 34 can facilitate counting of leaves or measuringvegetation volume based on optics and geometry information.

FIG. 10 is a flow chart of yet another embodiment of a method forapplying nutrients to plants. Like reference numbers in FIG. 9 and FIG.10 indicate like steps or procedures.

Step S801 may be carried out by various techniques, which may be appliedseparately or cumulatively. Under a first technique, the growing degreedays may be used to estimate plant height or plant maturity for aparticular crop. Under a second technique, the first data processor 14or the plant maturity estimator 80 determines growing degree days bysubtracting a reference temperature for a particular plant type, speciesor variety (e.g., corn or soybeans), from an average daily temperaturefor a growing duration. Under a third technique, the first dataprocessor 14 or the plant maturity estimator 80 estimates growth stateor the plant maturity based on growing degree days derived fromtemperature data for the geographic area associated with the plant, theplanting date, the current date and the crop type of the plant. Under afourth technique, the first data processor 14 or the plant maturityestimator 80 may receive or obtain precipitation data (e.g., rainfall),sunlight data, temperature data, and growing days (e.g., via the userinterface 28 or online commercially available data sources) to estimateplant maturity in accordance with a plant maturity estimator module 80for particular crop in a corresponding geographic area.

Under a fifth technique, the first data processor 14 or the plantmaturity estimator 80 adjusts the determined growth state or maturitystate for the plant based on collected stereo image data predominatingover the derived growing degree days, where the imaging system 34collects stereo image data on the plant to evaluate a plant size orplant height to verify the determined growth state or maturity state forthe plant.

Under a sixth technique, the first data processor 14 or the plantmaturity estimator 80 adjusts the determined growth state or maturitystate, where the height sensor 32 or imaging system 34 collects observedplant height data on the plant to verify the determined growth state ofmaturity state for the plant. For example, the first data processor 14or the plant maturity estimator 80 adjusts the determined growth stateor maturity state for the plant based on the observed plant heightpredominating of the derived growing degree days.

Under a seventh technique, the first data processor 14 or the plantmaturity estimator 80 estimates the growth state or plant maturity isbased on a growth model that uses a historic mean, average or medianprecipitation for the location of the plant, the planting date, thecurrent date and the crop type of the plant.

Under an eighth technique, the first data processor 14 or the plantmaturity estimator 80 estimates the growth state or plant maturity isbased on observed rainfall or precipitation for the field or regionassociated with the plant.

In step S802, the first data processor 14 or target root zone estimator82 estimates the root size, root radius, root diameter of the root zone466 of the plant (66, 166L, 166R) or plant row segment based on thedetermined plant maturity or grow state.

In an alternate embodiment, the first data processor 14 or target rootzone estimator 82 estimates the root size, root radius, root diameter ofthe root zone (e.g., 466) of the plant (66, 166L, 166R) or plant rowsegment based on the determined plant maturity or grow state.

In step S803, the second data processor 38 or nozzle control module 50adjusts a lateral offset of the spray pattern of a nozzle assembly 60based on the estimated root size, root radius, root diameter (e.g., ofthe root zone 466) to target alignment or maximization of overlap areaof a strip of the spray pattern with the corresponding root zone (e.g.,466). For example, the lateral offset of the spray pattern (75, 77, 79)may be based on the lateral offset of the nozzle assembly 60 from acentered row position with respect to the right plant row 166R, the leftplant row 166L, or both as measured or observed by one or more distancesensors (30, 130L, 130R). In turn, the plant proximity processing module52 may interpret or filter (e.g., average) the observed lateral offset(from the centerline of the row, as determined by a location-determiningreceiver (10 or 110)) of the nozzle assembly 60 from the distancesensors (30, 130L, 130R) for each respective row segment (e.g., 709,710, 711) or interval.

In step S806, the second data processor 38 or the nozzle control module50 selectively activates one or more directional nozzles of the nozzleassembly 60 to adjust the lateral offset of the spray pattern based onthe root size, or root radius of the root zone (e.g., 466) to targetalignment or maximization of overlap area of an application zone (e.g.,strip) of the spray pattern with corresponding root zone (e.g., 466).

FIG. 11 is a flow chart of still another embodiment of a method forapplying nutrients to plants. The method of FIG. 11 begins in step S800.

In step S800, a plant height sensor (30, 130L, 130R) detects an observedplant height of a sample plant or plants (66, 166L, 166R) in one or morerows of a crop.

In step S805, the first data processor 14 or the plant maturityestimator 80 determines a grow state or maturity state of a plant (66,166R, 166L) based on the observed plant height 266 or an average, mean,mode or other derived plant height for a plant, a plant row segment, ora field.

In step S802, the first data processor 14 or target root zone estimator82 estimates the root size or root radius of the root zone 466 of theplant based on the determined plant maturity or grow state (or observedplant height 266). However, in an alternate embodiment, the first dataprocessor 14 or target zone estimator 20 may estimate the root size orroot radius of the root zone of the plant based on the observed plantheight 266 or the derived plant height for a plant, a plant row segment,or a field.

In step S803, the second data processor 38 or nozzle control module 50adjusts a lateral offset of the spray pattern of a nozzle assembly 60based on the root size, root radius, root diameter of the root zone(e.g., 466) to target alignment or maximization of overlap area of anapplication zone (e.g., strip) of the spray pattern (75, 77, 79) todirect a crop input (e.g., nutrients or chemicals) to a strip or zonewith respect to the corresponding root zone. The lateral offset of thespray pattern may be based on the lateral offset of the nozzle assemblyfrom a centered row position with respect to the right plant row 166R,the left plant row 166L or both as measured or observed by one or moredistance sensors. In turn, the plant proximity processing module mayinterpret or filter (e.g., average) the observed lateral offset of thenozzle assembly 60 from the distance sensors (30, 130L, 130R) for eachrespective row segment (709, 710, 711) or interval.

FIG. 12 is a perspective view of a tractor that pulls an implement forapplying fertilizer (e.g. anhydrous ammonia) via laterally adjustablenutrient knives or cutters. FIG. 12 is perspective rear view of avehicle 13 towing one embodiment of a ground-engaging implement 19 withlateral position adjustment along, or parallel to, lateral axis 21 toapply crop inputs (e.g., ammonia) with an adjustable lateral offset withrespect to one or more plant rows, seed beds, drip tape, irrigationlines, reference lines or curves. The lateral axis 21 is substantiallyperpendicular to the vehicle longitudinal axis 23 of the vehicle, theimplement longitudinal axis 25 of the implement 19, or both.

FIG. 12 shows that the ground-engaging implement 19 has a tank 102 forholding crop inputs, such as chemicals, nutrients, fertilizer, ammonia,nitrogen, potassium, phosphorus, minerals or other crop inputs. In analternate embodiment, the crop inputs may include fungicide, pesticide,herbicide, miticide, or other crop treatments. In one embodiment, asprayer pump 127 accepts an input of a crop input and pumps the cropinput via a first manifold 129 and tubes 133 to a group of correspondingfirst nozzles or first nutrient knives 99 for application to crop rowsof plants; similarly, the sprayer pump 127 accepts an input of a cropinput and pumps the crop input via a second manifold 131 and tubes 133to a group of corresponding second nozzles and second nutrient knives 99for application to crop rows of plants. In another configuration, thetank 102 may contain pressurized ammonia, anhydrous ammonia, or anotherpressurized crop input that has pressure greater than atmosphericpressure such that the sprayer pump 27 is not required, where the tank102 directly feeds a first manifold 29, a second manifold 131, and wherethe first manifold 129 and the second manifold 131 may be associatedwith pressure regulator to regulate the pressure and flow of thepressurized crop input.

In one embodiment, a ground-engaging agricultural implement 19 comprisesa front member 73 for coupling to a hitch 161. The front member 73comprises a multi-sectioned foldable member that includes multiplesections. In one embodiment, the front member 73 comprises set of hingedsections that can be folded upward, wherein a central one (e.g., thirdfront member 275) of the hinged sections is associated with a hitch 161for attachment to a vehicle for pulling or towing the implement. Forexample, the front member 73 comprises a first front member 375 (e.g.,first section), a second front member 175 (e.g., second section) and athird front member 275 (e.g., third section). The first, second andthird front members (75, 175, 275) may be hinged at joints or hinges 79to allow the first front member 375 and the second front member 175 tofold upward with respect to the third front member 275 (e.g., centralmember) and inward toward the implement longitudinal axis 25 fortransportation.

In one embodiment, a set of rear members 77 are associated with thefront member 73, which comprises the first front member 375, the secondfront member 175 and the third front member 275. For example, the rearmembers 77 comprise a first rear member 84 associated with one or morecorresponding first row units 93, a second rear member 184 associatedwith one or more second row units 193, and a third rear member 284associated with one or more corresponding third row units 293.

The ground engaging-implement 19 may be regarded as a set of trapezoidalsections (395, 195, 295) or parallelogram sections, where each sectionis formed by a segment or portion of the front member 73, a segment orportion of the rear member 77, and a pair pivotable arms that pivotallyinterconnect the segment of the front member 73 and the rear member 77.Although FIG. 12 illustrates three trapezoidal sections (e.g.,substantially parallelogram sections), any number of trapezoidalsections greater than two may be used.

First Trapezoidal Section

With respect to a first trapezoidal section 395, a first rear member 84is spaced apart from a segment or portion of the front member 73 andpositioned generally parallel to a segment or portion of front member73. For example, a first rear member 84 is spaced apart from a firstfront member 375 and positioned generally parallel to the first frontmember 375. A first pair of first pivotable arms 76 are generallyparallel to each other. The first pair of first pivotable arms 76 arerotatably connected to the front member 73 or first front member 375 attwo front pivot points 182. The first pair of first pivotable arms 76are rotatably connected to the first rear member 84 at two rear pivotpoints 185. The first front member 375, first pivotable arms 76 and thefirst rear member 84 collectively form a pivotable, trapezoidalstructure (e.g., parallelogram structure) that permits the first rearmember to move along or parallel to the lateral axis 21, which allowsthe opener (e.g., nutrient knife 99) or first row units 93 to belaterally adjusted as the vehicle 13 traverses a path, swath, a set ofplant rows, a set of seed rows, or planted seedbeds.

At least one first opener (e.g., nutrient knife 99 or projecting,ground-engaging member) extends downward from or with respect to thefirst rear member 84. A first actuator 180 has a first end and a secondend opposite the first end. The first end is coupled to one of the firstpivotable arms 76. The second end is coupled to the front member 73 orfirst front member 375 to adjust the lateral position of the first rowunit 93, the first opener (e.g., nutrient knife 99). The first actuator180 increases or decreases the distance or span between the first endand the second end to adjust the lateral position, such as the lateralposition of the first rear member 84 with respect to the first frontmember 375. A first position sensor 168 is arranged to estimate alateral position of the first row unit 93 with respect to the implementlongitudinal axis 25 or any reference point on or associated with thefront member 73, or the lateral position of the first opener (e.g.,nutrient knife 99) with respect to the implement longitudinal axis 25 orany reference point on or associated with the front member 73. Forexample, the first position sensor 181 can estimate the lateral positionbased on an angle between any first pivotable arm 76 and the first frontmember 375 or the first rear member 84. Each nutrient knife 99 or openerthat opens a furrow or groove in the soil for insertion of fertilizer,anhydrous ammonia, nitrogen or other crop input is followed by a closer98 to covers the furrow or groove, and any associated crop input. Forexample, as illustrated the closer 98 comprises a serrated wheel or discwith a serrated periphery.

Second Trapezoidal Section

In the second trapezoidal section 195, a second rear member 184 isspaced apart from the second front member 175 and positioned generallyparallel to the second front member 175. A second pair of secondpivotable arms 176 are generally parallel to each other. The second pairof second pivotable arms 176 are rotatably connected to the second frontmember 175 at two front pivot points 182. The second pair of secondpivotable arms 176 are rotatably connected to the second rear member 184at two rear pivot points 185. The second front member 175, secondpivotable arms 176 and the second rear member 184 collectively form apivotable, trapezoidal structure (e.g., parallelogram structure) thatpermits the second rear member 184 to move along or parallel to thelateral axis 21, which allows the opener (e.g., nutrient knife 99) orsecond row units 193 to be laterally adjusted to a second lateralposition as the vehicle 13 traverses a path, swath, a set of plant rows,a set of seed rows, or planted seedbeds.

At least one first opener (e.g., nutrient knife 99 or projecting,ground-engaging member) extends downward from or with respect to thesecond rear member 184. A second actuator 280 has a first end and asecond end opposite the first end. The first end is coupled to one ofthe second pivotable arms 176. The second end is coupled to the frontmember 73 or first front member 375 to adjust a second lateral positionof the second row unit 193, the first opener (e.g., nutrient knife 99).

The second actuator 280 increases or decreases the distance or spanbetween the first end and the second end to adjust the lateral position,such as the lateral position of the second rear member 184 with respectto the second front member 175. A second position sensor 281 is arrangedto estimate a second lateral position of the second row unit 193 withrespect to the implement longitudinal axis 25 or any reference point onor associated with the front member 73 or the second front member 175;or the lateral position of the first opener (e.g., nutrient knife 99)with respect to the implement longitudinal axis 25 or any referencepoint on or associated with the front member 73. For example, the secondposition sensor 281 can estimate the lateral position based on an anglebetween any second pivotable arm 176 and the second front member 175 orthe second rear member 184. Each nutrient knife 99 or opener that opensa furrow or groove in the soil for insertion of fertilizer, anhydrousammonia, nitrogen or other crop input is followed by a closer 98 tocovers the furrow or groove, and any associated crop input. For example,as illustrated the closer 98 comprises a serrated wheel or disc with aserrated periphery.

Third Trapezoidal Section

In the third trapezoidal section 295, a third rear member 284 is spacedapart from the third front member 275 and positioned generally parallelto the third front member 275. A third pair of third pivotable arms 276are generally parallel to each other. The third pair of third pivotablearms 276 are rotatably connected to the third front member 275 at twofront pivot points 182. The third pair of third pivotable arms 276 arerotatably connected to the third rear member 284 at two rear pivotpoints 185. The third front member 275, third pivotable arms 276 and thethird rear member 284 collectively form a pivotable, trapezoidalstructure (e.g., parallelogram structure) that permits the third rearmember 284 to move along or parallel to the lateral axis 21, whichallows the opener (e.g., nutrient knife 99) or third row units 293 to belaterally adjusted to a third lateral position as the vehicle 13traverses a path, swath, a set of plant rows, a set of seed rows, orplanted seedbeds.

At least one first opener (e.g., nutrient knife 99 or projecting,ground-engaging member) extends downward from or with respect to thethird rear member 284. A third actuator 380 has a first end and a secondend opposite the first end. The first end is coupled to one of the thirdpivotable arms 276. The second end is coupled to the front member 73 orthird front member 275 to adjust the lateral position of the third rowunit 293, the first opener (e.g., nutrient knife 99).

The third actuator 380 increases or decreases the distance or spanbetween the first end and the second end to adjust the lateral position,such as the lateral position of the third rear member 284 with respectto the third front member 275. A third position sensor 381 is arrangedto estimate a second lateral position of the third row unit 293 withrespect to the implement longitudinal axis 25 or any reference point onor associated with the front member 73 or the third front member 275; orthe lateral position of the first opener (e.g., nutrient knife 99) withrespect to the implement longitudinal axis 25 or any reference point onor associated with the front member 73. For example, the third positionsensor 381 can estimate the lateral position based on an angle betweenany third pivotable arm 276 and the third front member 275 or the thirdrear member 284.

Further, in one embodiment, the first row units 93, the second row units193, the third row units 293 and any other row unit can be adjustedlaterally and independently of each other. For example, the controlsystem of FIG. 13 can control some row units (e.g., any permutation orcombination of 93, 193, 293) to be centered in the rows while other rowunits are laterally moved to the right or left, and the lateral positionof each separately adjustable set of row units can be continuouslyadjusted based on the implement position of the implement (e.g., asdetermined by a an implement location-determining receiver (e.g., 110))in the field to track a path plan, to avoid obstacles, irrigation lines,or drip tape, or to vary the nutrient proximity to plant roots or seedsbased on the soil characteristics, seed specifications, seed plantingdensity, seed varieties/coatings, and agronomic prescription plan. Eachnutrient knife 99 or opener that opens a furrow or groove in the soilfor insertion of fertilizer, anhydrous ammonia, nitrogen or other cropinput is followed by a closer 98 to covers the furrow or groove, and anyassociated crop input. For example, as illustrated the closer 98comprises a serrated wheel or disc with a serrated periphery.

Hitch

As illustrated in FIG. 12, in one embodiment, a ground-engagingagricultural implement 19 comprises a front member 73, first frontmember 375 or third front implement member 275 for coupling to a hitch161. As illustrated the hitch 161 comprises a three-point hitchassembly, although other hitch configurations can be used. In oneembodiment, the hitch 161 comprises a pair of lower arms 167 that extendrearwards from a rear 15 of the vehicle 13, a set of upper arms 163spaced apart from the lower arms 167, where each of the upper arms 163is coupled to a corresponding lower arm 167 via one or more adjustablehitch hydraulic cylinders 165 that are capable of adjusting the heightof the lower arms 167 and a first front member 375 of the implement 19that is attached to the lower arms 167 at lower hitch points 171. Anintermediate arm 17 extends rearwards from the rear of the vehicle via aflexible linkage and is attachable to the first front member 375 anupper hitch point 169.

In FIG. 12, the vehicle 13 (e.g., tractor) comprises a propulsion unitthat can drive or power wheels or tracks that can track or traverse overa guidance path or path plan that is aligned with or coextensive with acenter point (or any target offset from the center point) betweenadjacent crop rows, to minimize damage to plants or seeds from thewheels or tires. The guidance path may comprise a linear path segment, acurved path, a contour paths or the combination of any of the foregoingpaths. In one embodiment, the vehicle is associated with a vehiclelocation-determining receiver 34, such as a satellite navigationreceiver (e.g., with differential correction of the carrier phase of thesignal), to estimate a position of the vehicle 13. The path of thevehicle wheels 104 or tires of the vehicle 13 and the path of theimplement wheels 106 of the implement 19 can be guided consistent withintercepting or tracking the guidance path or path plan that is alignedwith or coextensive with the center point (or any target offset from thecenter point) between adjacent crop rows. Meanwhile, the ground-engagingimplement 19, or its different row units can be moved to a lateralposition that is independent of maintaining the wheels or tires of thetractor or implement 19 between the plant rows.

Instead, the a control system 11 or data processing system can adjustthe lateral position of the ground-engaging implement 19 to have anoffset with respect to a row of plants or row of seeds such that thecrop inputs (e.g., nutrients, fertilizer, or nitrogen) are directed toor dispensed to a target zone (e.g., an intermediate target zone) thatis between the center line between adjacent rows and the plant stems,stalk or trunk of the plant row, or seed bed row, drip tape segment, orirrigation segment.

The implement 19 can be equipped with various ground-engaging assembliesor row units. Under a first mode (e.g., nutrient application mode) ofoperation, row units are designed to apply nitrogen, anhydrous ammonia,fertilizer or other nutrients to rows of plants or seeds that havealready been planted. In the first mode, the control system 11 can beprovided with as-planted data for the plants or seeds that is based on alocation determining receiver, such as a satellite navigation receiverwith differential correction, RTK correction, or precise pointpositioning providing the coordinates (e.g., in two or three dimensions)of seeds or rows of plants for the field and a data processing systemrecording the coordinates of seeds or rows of plants, which can bereferred to as as-planted data or planting map data (e.g., historicas-planted data from a planting that occurred earlier for the same fieldin the same growing season). As illustrated, the vehicle may beassociated with a vehicle location-determining receiver 10 to estimate aposition, heading or motion data of the vehicle, whereas the implementmay be associated with an implement location-determining receiver 110 toestimate a position, heading or motion data of the implement 92. Theas-planted data or planting map data can be stored as files onelectronic storage media, non-volatile electronic random-access memory,optical disks, magnetic storage medium or otherwise for input to theuser interface of the control system 11, or for wireless communicationto the control system 11.

In one embodiment, one or more location-determining receivers (34, 66)determine the position of the implement in the field relative toas-planted seed data, seed density data, or both, where the as-plantedseed data or seed density data may include any of the following: seed orplant row coordinates (e.g., two or three dimensions); position pointsthat define linear or curved row segments; linear or quadratic equationsthat define linear or curved row segments; as-planted seed density datafor corresponding linear or curved row segments through one or morefields; seed type and corresponding tolerance to concentration offertilizer, corrosive components or salts that can dehydrate or damageplant tissue; seed coating (e.g., anti-corrosive, water solublepolymeric coating) of the planted seed and the resistance or toleranceof the seed coating to concentration of fertilizer, corrosive componentsor salts that can dehydrate or damage plant tissue.

In one configuration, the control system 11 or its vehicle guidancemodule 16 can guide the vehicle and the implement to track an implementpath that has a target lateral offset (e.g., dynamically adjustablelateral offset versus vehicle or implement position) of theground-engaging elements, openers or knives of the implement withrespect to the as-planted data or planting map data.

FIG. 13 is a block diagram of system for applying fertilizer consistentwith FIG. 12. The system of FIG. 12 is similar to the system of FIG. 1,except the system of FIG. 12 further includes the following: (a) a plantmaturity estimator 80 associated with the first data storage device 16and first actuator 180; (b) first position sensor 181, second positionsensor 281 and third position sensor 381; (c) a first actuator 180, asecond actuator 280 and a third actuator 380; (d) a plant identifiermodule 89, plant height measurement module 90 and an imaging processingmodule 91 (e.g., stereo image processing module) associated with thesecond data storage device 146. The plant maturity estimator 80 may useone or more of the following data inputs to determine growing degreedays, a plant maturity state, or a plant maturity indicator: (1) theplanting date 83, such as planting date entered into the user interface28 by an operator, (2) the present date or application date offertilizer or nutrient, such as the application entered into the userinterface 28 by an operator or provided by the clock 84, and (3) fieldzone data entered into the user interface 28 by the operator orextracted by reading of location data associated with thelocation-determining receiver 10.

In one embodiment, the image processing module 91 may comprise a stereoimage processing module for determining a constellation of threedimensional coordinates that lie on or define the shape of an observedplant, plant row segment, or section of vegetation.

In another embodiment, the plant height measurement module 90 determinesthe observed height of a plant or plant row segment based on collectedimage data, the constellation of three dimensional coordinates, or othersensor data.

In an alternate embodiment, the optional plant identifier module 89 mayprovide a plant identifier, such as a plant species, a plant type, orplant variety, corn, maize, wheat, rice, oats, grain, soybeans, oilseed,fiber, or the like based on comparing an observed image collecting bythe imaging device 34 to a reference image, with respect to an observedplant size (e.g., plant width or volume) and reference plant size, anobserved leaf or vegetation shape and a reference leaf or vegetationshape, and an observed plant color and reference plant color. The plantmaturity estimator 80 may use the plant identifier to estimate the plantmaturity status consistent with reference plant maturity data stored ina look-up table, data base, chart or other data structure.

FIG. 14 is a block diagram of an alternate embodiment of system forapplying fertilizer, nutrients or crop inputs. The system of FIG. 14 issimilar to the system of FIG. 13, except the system of FIG. 14 furtherincludes a first application actuator 141, a second application actuator143, a third application actuator 145, an optional root sensing device137, and a safety zone estimator 139. Like reference numbers indicatelike elements or features. As illustrated in FIG. 14, the dataprocessing system 112 further comprises a temperature sensor 78 formeasuring air, ground or soil temperature; one or more environmentalsensors 51 for measuring precipitation, accumulated daylight hours, soilmoisture, soil parameters, or other agronomic parameters; and a wirelesscommunications device 53 for communicating with environmental oragronomic data providers via a wireless network, such as a cellular,mesh or satellite wireless network.

In one embodiment, the root sensing device 137 measures all or portionsan observed plant root zone. The observed plant root zone may be usedalone or in conjunction with a plant maturity estimator 80 or targetroot zone estimator 82 to facilitate estimation of a root zone, safetyzone, or extended safety zone. The root sensing device 137 may be usedto estimate plant maturity based on a measured or detected root size,root dimensions, or root volume, which can be correlated to orindicative of plant maturity. In one example, the root sensing device137 (e.g., ground-penetrating root-sensing device) may comprise any ofthe following: (a) an electrical impedance tomography imaging unit, (b)a ground-penetrating radar device or transceiver, and (c) aground-penetrating radar configuration for measuring a size ofunderground roots of a plant.

In one configuration, a safety zone estimator 139 determines a distancebetween the estimated or measured extent of the root zone (N320 in FIG.16) and where the fertilizer or nutrient application is to be targeted.If the ground-engaging nutrient knife 99 or applicator is too close tothe roots of the plant, the roots may be chemically damaged ormechanically damaged. In one example, chemical damage of the roots caninclude burning by the concentration of fertilizer, whether by excessiveacidity, alkalinity or residual salts in the soil around the roots ofthe plants. In another example, the physical damage of the roots caninclude mechanical damage from the nutrient knife 99 cutting,lacerating, shredding, scraping, bumping or other contact with the rootsof the plants.

For corn or maize, the data processing system 112 can be used to controlnutrient knives 99 in each corresponding row unit to apply crop inputs(e.g., nutrients or fertilizer): (a) outside of an inner safety zoneN330 (in FIG. 16) or on an inner boundary N313 associated with an outercircumference of the inner safety zone N330, and/or (b) outside of (orbounded by) an outer safety zone N340 or on an outer boundary N315associated with an outer circumference of the outer safety zone N340,which is well-suited for providing a safety margin to avoid damage tothe roots of the rows of plants by the nutrient knives 99. In practice,there is some uncertainty as the actual limits of the root zone N320 ofa corresponding plant, which may extend beyond the root boundary N311 tothe inner boundary N313 or even the outer boundary N315. For example,the uncertainty may be associated with the error or tolerance in theposition estimates of the location-determining receiver 10, whichdepends upon a differential correction signal or data message andcarrier phase measurements of received satellite signals that are withinrange.

As illustrated in FIG. 16, at the root boundary N311, the inner safetyzone N330 borders or surrounds the root zone N320 that is substantiallycircular or elliptical in a horizontal plane. The inner safety zone N330(e.g., fixed safety) is substantially annular. Inward from the innersafety zone N330, the inner safety zone N330 is bounded by a rootboundary N311 having inner radius (e.g., of approximately 3 centimeters)around a plant stalk N310 (e.g., stem, trunk or center point). Outwardfrom the inner safety zone N330, the inner safety zone N330 is boundedby an inner boundary N313 having an outer radius (of approximately 6centimeters) around a corresponding plant (stalk or center point), wherethe outer radius is greater than the inner radius of the inner safetyzone N330.

In one embodiment, at an inner boundary N313 an outer safety zone N340(e.g., adjusted safety zone) surrounds or borders an outer circumferencethe inner safety zone N330. The outer safety zone N340 is bounded by anouter boundary N315 having an outer radius. In one configuration, anaggregate safety zone refers to the combination of the inner safety zoneN330 and the outer safety zone N340. If a crop input, such as nutrientor fertilizer, is applied with a given concentration on or outside theouter boundary N315 associated with the aggregate safety zone, then theplants generally will not sustain any material damage to the roots.

In one embodiment, the inner safety zone N330 may be a fixed region orfixed safety zone, or be subject to a fixed margin of error ortolerance. Meanwhile, the aggregate safety zone or outer safety zoneN340 may comprise an adjustable safety zone, such as an adjusted safetyzone of FIG. 16, that depends upon the concentration of the crop input(e.g., nutrient, fertilizer, chemical, pesticide or herbicide), thematurity of the plant, and other relevant agronomic factors, such as aroot zone location quality factor, a Global Navigation Satellite System(GNSS) quality factor, a guidance system quality factor, a soil factor,and a fertilizer factor.

The radius, dimensions, or area of the outer safety zone N340 can beadjusted based on various factors. A root zone location quality factoris a measure or indicator of the confidence level in the size/locationof the root zone of a plant, which can be derived from a crop model, aformula using measured plant attributes, or direct measurement of roots.For example, the safety zone estimator 139, plant maturity estimator 80,or target root zone estimator 82 may use a crop model to estimate a rootzone location with a corresponding level of confidence (e.g., 90 percentconfidence with a tolerance of plus or minus 2 centimeters in radius).In another example, the safety zone estimator 139 adds the abovetolerance to an estimated or observed root radius to estimator a safetyzone, such as an inner safety zone N330 (e.g., fixed safety zone) orgenerally annular safety zone about a plant. In yet another example, thesafety zone estimator 139 adds the above tolerance (e.g., 2 centimetersin radius) to an existing inner safety zone N330 (e.g., fixed safetyzone) (e.g., 3 centimeters in radius) to yield a greater outer safetyzone N340 (e.g., adjusted safety zone). The outer safety zone N340 maybe referred to as an adjustable safety zone because the outer safetyzone N340 (e.g., adjusted safety zone) has a radius, dimension or areathat is adjusted based on factors for evaluating the precision andreliability of plant positions with respect to the vehicle, implement ornutrient knives 99. The outer safety zone N340 is located outward fromthe inner safety zone N330 (e.g., fixed safety zone), where both theinner safety zone and the outer safety zone are generally annular orsubstantially ring-shaped.

A satellite navigation quality factor (e.g., Global Navigation SatelliteSystem (GNSS)) may be derived from parameters such as theoretical limitsto accuracy, satellite constellation, dilution of precision, or otherfactors. The location-determining receiver 10 may comprise a qualitymodule that provides the satellite navigation quality factor to the dataprocessing system.

A guidance system quality factor is related to the ability of eachapplicator or nutrient knife 99 associated with the implement to followa prescribed path in the ground to avoid physical damage or chemicaldamage to the roots of the rows of plants consistent with a safety zone,such as an inner safety N330 zone (e.g., fixed safety zone), an outersafety zone N340 (e.g., an adjusted or dynamically adjustable safetyzone). The guidance system quality factor may be impacted by the groundspeed of the applicator or nutrient knife 99, soil properties, such asclay content and moisture content, the geometry of the steering systemof the work machine or tractor with respect to the implement, amongother things. The first data processor 14 or the application plan module22 may provide or estimate a guidance system quality factor.

A soil factor, such as an existing soil acidity/alkalinity (e.g., pH)and salinity may affect the likelihood of chemical root damage for agiven fertilizer application, path plan of nutrient knife 99 or knives,consistent with one or more safety zones. The data processing system 112may receive or obtain soil surveys or geo-referenced soil sampleparameters versus position (e.g., in two or three-dimensionalcoordinates) via a user interface 28 or otherwise.

In an alternate embodiment, the data processing system 112 is associatedwith a soil sensor that penetrates or contacts the soil to estimate anyof the following soil parameters: soil moisture, soil acidity, soilalkalinity, soil pH, and soil salinity.

A fertilizer factor, such as the concentration of nitrogen, phosphorusand potassium and the chemical or compound form/biological availabilityof the fertilizer or nutrient may affect the likelihood of chemical rootdamage.

In one embodiment, the first actuator 180 controls a first lateralposition of a corresponding first nutrient knife 99 or set of firstnutrient knives 99, where the first position sensor 181 measures orprovides a measurement to estimate the first lateral position; thesecond actuator 280 controls a second lateral position of acorresponding second nutrient knife 99 or set of second nutrient knives99, where the second position sensor 281 measures or provides ameasurement to estimate the second lateral position; the third actuator380 controls a third lateral position of a corresponding third nutrientknife 99 or set of nutrient knives 99, where the third position sensor381 measures or provides a measurement to estimate the third lateralposition. As shown in FIG. 12, each set of one or more (e.g., five)nutrient knives 99 can be laterally adjusted simultaneously andindependently of other sets of nutrient knives 99. The data processingsystem 112 can control the set of one or more nutrient knives 99 tofollow planned paths with predefined spacing or separation with respectto rows of plants or individual plants. Further, the data processingsystem 112 can control the set of one or more nutrient knives 99 tofollow the planned paths, such as generally linear paths (e.g., N360 inFIG. 16) or generally linear paths with arcs (e.g., N350 in FIG. 16)about root zones (e.g., N320) or plant stems or stalks (e.g., N310))with predefined spacing or separation with respect to plants andconsistent with an inner safety zone, an outer safety zone, or both.

In an alternate embodiment, the implement includes an optional firstapplicator actuator 141, an optional second applicator actuator 143 andan optional third applicator actuator 145, which are indicated by dashedlines in FIG. 14. In the alternate embodiment, each optional applicatoractuator may be used to adjust a depth of a nutrient outlet associatedwith corresponding nutrient knives.

In another alternate embodiment, the applicator (141, 143, 145) for eachrow unit comprises the combination of a nutrient knife 99 for belowground applications of nutrients and a sprayer nozzle for above groundapplications of nutrients of nutrients. Further, each optionalapplicator actuator (141, 143, 145) may be used to selectively activateone or more of the following for each equipped row unit: (a) thenutrient knife 99 outlet of nutrient from the nutrient knife 99 forbelow ground application, (b) the nozzle outlet of nutrient for aboveground applications, where the nutrient knife outlet (of nutrient knife99) and nozzle outlet can be activated at a start time and an end timeassociated with proximity to each plant, root zone, plant stem or plantstalk to limit the amount of fertilizer applied and maximize the impactof the fertilizer on plant growth and yield.

In yet another alternate embodiment, each optional applicator actuator(141, 143, 145) comprises an electrohydraulic valve that is activated toopen, close, or regulate a valve associated with the nutrient knifeoutlet of the nutrient knife 99, the nozzle outlet or both. Theselectively timed and limited application of such nutrients has thepotential to reduce runoff or indirect delivery of nutrients towatersheds to reduce or ameliorate potential algae growth and potentialenvironmental hypoxia and in lakes, rivers and oceans.

FIG. 15 is a flow chart of one embodiment of a method for treating orapplying nutrients to plants. The method of FIG. 15 begins in step N202.

In step N202, the target root zone estimator 82 or plant maturityestimator 80 estimates or measures the extent or size and location of aplant root zone N320. For example, the location of a center point N357of the root zone N320 may be associated with two or three-dimensionalposition coordinates or center point N357 of a plant stalk N310 or stem,whereas the size of the root zone may be defined by a radius about thelocation or center point N357. Further, the root zone N320 may bedefined in accordance with or supplemented with one or more safetyzones, such as an inner safety zone N330 (e.g., fixed safety zone) andan outer safety zone N340 (e.g., an adjustable safety zone). Step N202may be supported by the first data processor 14, the second dataprocessor 38, or both.

Although the root zone N320 may be defined in two dimensions, asillustrated in FIG. 16, in an alternate embodiment, the root zone may bedefined in three dimensions or by its volume. In some examples, the sizeor radius of the root zone N320 is informed by genetic root zonearchitecture for the plant species and plant variety that has beenplanted, and above ground measured plant parameters, such as plantheight, plant width, or both.

In one embodiment, the plant maturity estimator 80 or target root zoneestimator 82 estimates the growth state or the plant maturity is basedon growing degree days derived from temperature data for the geographicarea associated with the plant, the planting date, the current date andthe crop type of the plant. In accordance with one estimation process,the plant maturity estimator 80 or target root zone estimator 82estimates the growth state or plant maturity based on a growth modelthat uses a historic mean, average or median precipitation for thelocation of the plant, the planting date, the current date and the croptype of the plant. The planting date may be entered by a user via theuser interface 28, whereas the current date 95 is automaticallydetermined by a clock 84 or another chronometer. In accordance withanother estimation process, the growth state or plant maturity is basedon observed rainfall or precipitation for the field or region associatedwith the plant, which is inputted from a user at the user interface 28,wirelessly received by a wireless communications device 53 coupled tothe first data ports, or provided by sensor data from one or moreenvironmental sensors 51.

In certain configurations, a root sensing device 137 or imaging device34 can collect sensor data to verity the estimated location and size ofthe target root zone N320. For example, the imaging device 34 is adaptedto collect stereo image data on the plant to evaluate a plant size orplant height to verify the determined growth state or maturity state forthe plant. The plant maturity estimator 80 or the target root zoneestimator 82 can adjust the determined growth state or maturity statefor the plant based on the collected stereo image data predominatingover the derived growing degree days. In another example, the imagingdevice 34 is adapted to collect observed plant height data on the plantto verify the determined growth state of maturity state for the plant.In one embodiment, the plant maturity estimator 80 or target root zoneestimator 82 adjusts the determined growth state or maturity state forthe plant based on the observed plant height predominating of thederived growing degree days.

In an alternate embodiment of step N202, the plant maturity estimator 80or target root zone estimator 82 estimates or determines a growth stateor maturity state of a plant based on a planting date, accumulatedgrowing degree days since the planting date, and the crop type of theplant. In some configurations, the calculation of growing degree daysrequires a temperature sensor 78 for the temperature measurements and aclock 84 (e.g., for providing the time and/or current date 95), or theuser may enter accumulated growing degree days data via the userinterface 28, or the data processing system 112 may receive accumulatedor derived growing degree days from a third party data provider via awireless communications device 53 that communicates over a wirelesscommunications network, such as a cellular, mesh, or satellite network.The temperature sensor 78 may be coupled to the first data ports 24, orsecond data ports 36, of the data processing system 112.

In step N204, the safety zone estimator 139, the application plan module22 or the first data processor 14 determines a preferential amount andplacement of one or more nutrients with respect to the measured orestimated root zone N320. Step N204 may be carried out in accordancewith various techniques, which may be applied separately, orcumulatively.

Under a first technique, the safety zone estimator 139, the applicationplan module 22 or the first data processor 14 determines the amount andplacement of one or more nutrients with respect to the measured orestimated root zone N320 or safety zone to accomplish one or more of thefollowing objectives: (a) to avoid damage to the plants, (b) to maximizeyield associated with the plants or crop, and (c) to minimize theapplication of nutrients or crop inputs required to maximize yield. Forexample, in accordance with step N204 the distribution pattern comprisesa generally linear strip or an arc that intercepts a safety zone outwardfrom a root zone.

Under a second technique, the application plan module 22 or the firstdata processor 14 determines that the plant has a corresponding yieldgoal of 5 milli-bushels (i.e., 5×10⁻³ bushels) and a nitrogen budget of1.5 units of nitrogen/bushel or 7.5 milli-units of nitrogen for theplant. Further, the application plan module or the first data processor14 allocates a portion of the fertilizer budget or nitrogen budget,which may be applied as a function of milliliters of a liquid fertilizerby the nutrient knife 99 below ground near a base of the plant and itsroot zone, but not so close to the root zone to physically damage, cut,or abrade the root or root zone of the corresponding plant.

Under a third technique, the application plan module 22 or the dataprocessor 14 determines control signals or data messages for one or morelateral position actuators (180, 280, 380) associated with theapplicator or nutrient knife 99 and for one or more flow-controlapplicator actuators (141, 143, 145) to apply the fertilizer in the soilin a generally linear band (e.g., N360) or arc (e.g., N355) of a certainlength (e.g., 15-centimeter-long band or arc), as close as allowed tothe plant consistent with the corresponding root zone N320 andassociated safety zone(s) (e.g., N330, N340).

Under a fourth technique, the data processor 14 or application planmodule 22 determines control signals or data messages for one or morelateral position actuators (180, 280, 380) associated with theapplicator or nutrient knife 99 and for one or more depth-controlapplicator actuators (141, 143, 145) to apply the fertilizer in the soilin a band or arc to a depth (e.g., 10 centimeters) that is chosen suchthat the fertilizer migrates or diffuses down and over the roots or sothe roots grow down and over to the migrated or diffused fertilizer.

Under a fifth technique, the data processor 14 or application planmodule 22 determines control signals or data messages for one or moreactuators (180, 280, 380) associated with the applicator or nutrientknife 99 to apply or manage fertilizer or other crop inputs in the rootzone based on historical rainfall, forecasted rainfall, irrigationplans, and/or soil moisture measurements or surveys of the field withthe plants or crop.

Under a sixth technique, the data processor 14 or application planmodule 22 determines control signals or data messages for one or moreactuators (180, 280, 380) to adjust a lateral offset of a distributionpattern (e.g., a strip or arc that intercepts a safety zone outward froma root zone) of a crop input or nutrient from (a nutrient knife 99assembly of) one or more nutrient knives 99 based on the size, diameteror radius of a root zone N320 and safety zone (e.g., N330 or N340) aboutthe root zone, where each of the one or more nutrient knives tracks 99 apath outside of the root zone N320.

In step N206, a data processor 14 or safety zone estimator 139determines a safety zone (e.g., N330 or N340) about the estimated ormeasured root zone (e.g. N320). The data processor 14 or safety zoneestimator 139 estimates the safety zone (e.g., N320) about each plant ina row in accordance with techniques, which may be applied separately orcumulatively.

Under a first technique, the inner safety zone N330 is initiallydetermined with as a fixed safety zone about the plant root zone N330,or radius about the plant stalk N310, stem or center point N357, wherethe inner safety zone N330 is selected to avoid mechanical or physicaldamage to the roots of the plant, chemical damage to the roots of theplant, or both.

Under a second technique, the data processor 14 or safety zone estimator139 adjusts or determines the outer safety zone N340 (e.g., adjustedsafety zone) based on the accuracy or tolerance of the reliable positionestimates or location estimates of the location-determining receiver 10.For instance, if the location-determining receiver 10 comprises a GlobalNavigation Satellite System (GNSS) satellite receiver that is operatingwith precise point positioning and associated correction signal, theaccuracy may be equal to or better than a particular accuracy rating(e.g., tolerance of plus or minus approximately 3 centimeters); hence,the outer safety zone N340 (e.g., adjusted safety zone) has itsassociated radius is added to the inner safety zone N330 (e.g., fixedsafety zone). Similarly, if the location-determining receiver 10comprises a GNSS satellite receiver that is operating on a real-timekinematic (RTK) mode with one or more reference base stations providinglocal differential correction signals, the accuracy may be equal to orbetter than the particular accuracy rating (e.g., tolerance of plus orminus approximately 2.5 centimeters); hence, the outer safety zone N340(e.g., adjusted safety zone) has its associated radius is added to theinner safety zone N330 (e.g., fixed safety zone).

Under a third technique, the data processor 14 or safety zone estimator139 adjusts or determines the outer safety zone N340 (e.g., adjustedsafety zone) to extend an additional radial length (e.g., approximatelythree centimeters in radius outward from the root zone or an innersafety zone) as outer safety zone N340 (e.g., adjusted safety zone) toaccount for implement guidance error (e.g., tolerance of plus or minusapproximately three centimeters).

Under a fourth technique, the data processor 14 or safety zone estimator139 adjusts or determines the outer safety zone N340 (e.g., adjustedsafety zone) to extend an additional radial length (e.g., approximatelysix centimeters in radius outward from the root zone or an inner safetyzone) as outer safety zone N340 (e.g., adjusted safety zone) to accountfor implement guidance error (e.g., tolerance of plus or minusapproximately three centimeters) and GNSS receiver accuracy (e.g.,tolerance of approximately three centimeters).

Under a fifth technique, in one embodiment the aggregate safety zone(N330, N340) comprises a generally annular zone outward from the rootzone of a corresponding plant in the row.

Under a sixth technique, in another embodiment the safety zone comprisesan outer safety zone N340 (e.g., adjusted safety zone) that comprises agenerally annular zone that is adjusted based on the growth stage ormaturity of plants with the row and concentration of the nutrients.

In step N208, the first data processor 14 or the application plan module22 determines the route or path plan (e.g., N360 or N350) of thenutrient knife 99 or set of nutrient knives for each row or set of rowsconsistent with the estimate root zone and safety zone (e.g., innersafety zone N330, outer safety zone N340 or both). For example, thefirst data processor 14 or the application plan module 22 determines thepath plan of the nutrient knife 99 or nutrient knives and correspondingactivation and deactivation times of for the nutrient outlet of eachnutrient knife 99 to align or coincide with one or more of thefollowing: (a) plant stalk, plant stem N310 or center point N357 of eachplant in a row, (b) a location, position or geographic coordinates ofthe location-determining receiver 10 on the tractor or on the implementassociated with a plant stalk, plant stem or center point N357 of eachplant, or (c) a location, position or geographic coordinates of anapplication start point (N352 or N362) and an application end point(N354 or N364) for a generally linear path plan N360 or a linear pathplan with an arc N355 (e.g., path plan with arc deviation N350) andassociated center point N357 of the arc N355 coincident with the stemlocation, stalk location N310 or center point N357 of plant in a plantrow. The path plan for each row or applicator route has an applicationstart point (N352 or N362) and an application end point (N354 or N364),where the outlet of the nutrient knife 99 ejects or emits nutrient orfertilizer as the nutrient knife 99 traverses the path plan between theapplication start point (N352 or N362) and the application end point(N354 or N364). Further depending upon the trajectory responsiveness orlateral responsiveness of the nutrient knife 99 of each row unit alongwith the corresponding ground speed of the vehicle, tractor or implementwith the nutrient knife 99 or knives, the data processor 14 or theapplication plan module 22 may elect to execute general linear path orapplication route, as opposed to an application route or path plan withlinear segments and an arc N355 about each plant or its root zone.

In some examples, the data processor 14 or application plan module 22controls multiple nutrient knives 99 or sets of nutrient knives 99 tomove laterally together in unison to track parallel substantially linearpaths (N360) or parallel linear path segments interrupted by arcs (N350)that diverge outward from the respective root zones. In addition, thedata processor 14 or application plan module 22 can control sets ofnutrient knives 99 to move laterally and vertically together. In thesecases, the individual row lateral displacements and depths may need tobe resolved while considering the following parameters: (a) applicationoutside the lateral safety zone, (b) average lateral distance from anadjacent or closest plant row, (c) minimum depth of the nutrient knife99, (d) maximum depth of the nutrient knife 99, and (e) average depth ofthe nutrient knife 99.

In step N210, the first data processor 14 or application plan module 22facilitates movement of the applicator and nutrient knives 99 of the rowunits via the lateral actuators (180, 280, 380) along one of theapplication routes or path plans, such as those application routesillustrated in FIG. 16. Further, the first data processor 14 orapplication module facilitates dispensing or emission of nutrients orfertilizer between the application start point (N352 or N362) and theapplication end point (N354 or N364) by activating or regulating theflow-control applicator actuators (141, 143, 145), such aselectrohydraulic valves in the lines associated with the nutrientoutlets at the respective nutrient knives 99.

Step N210 may be carried out in accordance with various procedures thatmay be implemented separately or cumulatively.

Under a first procedure for carrying out step N210, the first dataprocessor 14 or lateral position actuator (180, 280, 380) adjusts alateral offset of a distribution pattern of a crop input or nutrientfrom at least one nutrient knife 99 of nutrient knife 99 assembly basedon the size, diameter or radius of the root zone and safety zone aboutthe root zone N320, where the least one nutrient knife 99 tracks a pathoutside of the root zone N320 to avoid mechanical damage or chemicaldamage to the root or plant.

Under a second procedure, the first data processor 14 commands orinstructs:(a) an actuator (141, 143, 145) (e.g., an electrohydraulicvalve) associated with the nutrient knife 99 assembly to activate thedistribution of the crop input or nutrient from the at least oneground-engaging nutrient knife 99 from an application start point (N352or N362) to an application end point (N354 or N364) lying along asubstantially linear path that intercepts safety zone outward from aroot zone about each stalk within a row of plants, and (b) an actuatorassociated with the lateral position of the at least one ground-engagingnutrient knife 99 to direct the at least one nutrient knife 99 to trackthe linear row path that intercepts the safety zone outward from theroot zone about each stalk within a row of plants based on feedback orsensor data from position sensor (181, 281, 381) (e.g., lateral positionsensor).

Under a third procedure, the first data processor 14 commands orinstructs: (a) an actuator (141, 143, 145) (e.g., an electrohydraulicvalve) associated with the nutrient knife 99 assembly to activate thedistribution of the crop input or nutrient from the at least oneground-engaging nutrient knife 99 from an application start point (N352or N362) to an application end point (N354 or N364) lying along asubstantially linear row path with an arc N355 that intercepts a safetyzone (e.g., outer safety zone N340) outward from a root zone N320 abouteach stalk N310 within a row of plants, and (b) an actuator (180, 280,380) associated with the lateral position of the at least oneground-engaging nutrient knife 99 to direct the at least nutrient knife99 to track an arc N355 that extends outward, with respect to eachcorresponding plant with the row, from a substantially linear track thatis parallel to a row of plants and outside of the root zones N320 of therow of plants.

Under a fourth procedure, the data processor 14 or application planmodule 22 the substantially linear row path (N350 or N360) is associatedwith a corresponding application start point (N3521 or N362) and acorresponding application end point (N354 or N364) for each plant in therow, where the application or distribution of the nutrient is when theground-engaging nutrient knife traverses the substantially linear path,or the substantially linear path with an arc N355, or arc deviation,between the application start point (N352 or N362) and the applicationend point (N354 or N364).

Although the examples in the disclosure and method of FIG. 15 havefocused on nutrient and fertilizer application, similar configurationscan be used to dispense or distribute other chemicals, compounds, orcrop inputs, such as fungicides, herbicides, insecticides, nematicides,pesticides, and miticides.

FIG. 16 is a plan view of a nutrient knife 99 that tracks one of twopossible path plans (N350 or N360) or routes plan for treating orapplying nutrients to plants. A stalk N310, stem or plant center pointN357 is part of a row of plants or crops, where the stalk N310, stem orplant center point is associated with a location, position orcoordinates estimated by a location-determining receiver 10. A root zoneN320 has a radius about the stalk N310, stem or plant center point N357,where the target root zone estimator 82, or plant maturity estimator 80,or first data processor 14 estimate the root zone. Alternately, the rootsensing device 137 estimates the root zone for one or more plants.Imaging data or the plant may supplement the data or model informationassociation with the plant maturity estimator 80 to estimate a size orradius of the root zone about the stalk, stem or plant center point.

In FIG. 16, an inner safety zone N330 (e.g., fixed safety zone) islocated outward from the root zone N320 and the stalk N310, stem orcenter point N357 of the plant. The outer circumference or root boundaryN311 of the root zone N320 is coincident or coextensive with an innercircumference or inner boundary of the inner safety zone N330. Asillustrated, the inner safety zone N330 has a substantially annulararea. An outer circumference or inner boundary N313 of the inner safetyzone is coincident or coextensive with an inner circumference or innerboundary of the outer safety zone N340 (e.g., adjusted safety zone).

In one embodiment, an outer circumference or outer boundary N315 of theouter safety zone N340 or outer safety zone N340 (e.g., adjusted safetyzone) can intercept a first path N360 or a second path N350. The firstpath N360 comprises a generally linear path or route of a nutrient knife99 along a row of plants. The second path N350 comprises a pair ofgenerally linear path segments N317 that are interconnected orinterrupted by an arc N355 for the nutrient knife 99 to follow along arow of plants. In accordance with the second path N350, the nutrientknife 99 follows an arc N355, which can be described as an arc excursionor deviation outward away from the plant stalk N310, stem or centerpoint N357, where the arc N355 is coextensive with a portion of theouter circumference or outer boundary N315 of the outer safety zone N340(e.g., adjusted safety zone

The first path N360 or the second path N350 represent alternative pathsfor the nutrient knife 99 traversing a plant row; the first path N360,which is generally or substantially linear, is typically favored forhigher speed applications or distribution of fertilizer equal to orgreater than a certain ground speed threshold of the implement ortractor pulling the implement, whereas the second path N350 can be usedas lower speeds lesser than the certain ground speed threshold. Thesecond path N350 potentially can provide higher concentration ofnutrients or fertilizer around the root zone N320 because the arc has acenter point N357 that is aligned with a center point N357 of the stalkN310, stem or center point of the plant and that is aligned with theroot zone N320.

For the first path N360 or the second path N350 of each row unit, thefirst data processor 14 or application plan module 22 establishes anapplication start point (N362 or N 352) and an application end point(N364 or N354), between which nutrient or fertilizer is distributed. Thelocation-determining receiver 10 facilitates estimation of theapplication start point (N352 or N362) and application end point (N354or N364) for each row unit. Meanwhile, the first data processor 14 orapplication plan module 22 can generate control signals or control datamessages to activate the actuators (141, 143, 145) or electrohydraulicvalves to activate, deactivate and regulate the flow of nutrients orfertilizer from the nutrient outlet of the nutrient knife 99 of eachplant row, consistent with the applicable application start point (N352or N362) and the applicable application end point (N354 or N364).

The radial lengths that appear in FIG. 16 are merely provided forillustrative purposes and do not limit the root zone N320, the innersafety zone N330 or the outer safety zone N340 to any particular radialdimensions or radial lengths, such as five centimeters, two centimetersor five centimeters, respectively.

The system disclosed in this document is well-suited for selecting orcontrolling vertical position of active nozzles to provide desiredapplication of crop input to one or more target zones on the soil,and/or vegetation. Further, the system can adjust the spray pattern foreach crop row independently and dynamically to select a different spraypattern for each time interval and for each respective crop row segmentof any crop row or set of crop rows. The system can be configured toadjust the spray patterns for each crop row segment based on observed ormeasured lateral spacing within each row to compensate for as-plantedvariation or error in crop row spacing, such as variation associatedwith manual driving during planting or from use of satellite navigationservice or satellite navigation receivers that do not feature the latesttechnology in precise positioning.

While the disclosure has been described in detail in the drawings andforegoing description, the description shall be considered as exemplaryand illustrative, rather than restrictive of the scope of protection setforth in the claims. Various illustrative embodiments have been shownand described in this document, such that any changes, variants andmodifications that come within the spirit of the disclosure will fallwithin the scope of the disclosure and its associated claims.

The following is claimed:
 1. A method for treating or applying nutrientsto plants, the method comprising: determining a growth state or maturitystate of a plant based on a planting date, a current date and the croptype of the plant; estimating a size, diameter or radius of a root zoneof the plant based on the determined growth state or maturity state;adjusting a lateral offset of a distribution pattern of a crop input ornutrient from at least one nutrient knife of nutrient knife assemblybased on the size, diameter or radius of the root zone and safety zoneabout the root zone, where the at least one nutrient knife tracks a pathoutside of the root zone; and commanding or instructing an actuatorassociated with the nutrient knife assembly to activate the distributionof the crop input or nutrient from the at least one ground-engagingnutrient knife directed along a linear row path with an arc deviationthat intercepts a safety zone outward from a root zone about each stalkwithin a row of plants, where the arc deviation extends outward withrespect to each corresponding plant with the row.
 2. The methodaccording to claim 1 wherein the distribution pattern comprises a stripor arc that intercepts a safety zone outward from a root zone.
 3. Themethod according to claim 1 wherein the growth state or the plantmaturity is based on growing degree days derived from temperature datafor the geographic area associated with the plant, the planting date,the current date and the crop type of the plant, where the derivedgrowing degree days are accumulated between the planting date and thecurrent date.
 4. The method according to claim 3 further comprising:collecting stereo image data on the plant to evaluate a plant size orplant height to verify the determined growth state or maturity state forthe plant; adjusting the determined growth state or maturity state forthe plant based on the collected stereo image data predominating overthe derived growing degree days.
 5. The method according to claim 3further comprising: collecting observed plant height data on the plantto verify the determined growth state of maturity state for the plant;adjusting the determined growth state or maturity state for the plantbased on the observed plant height predominating of the derived growingdegree days.
 6. The method according to claim 1 wherein the growth stateor plant maturity is based on a growth model that uses a historic mean,average or median precipitation for the location of the plant, theplanting date, the current date and the crop type of the plant.
 7. Themethod according to claim 6 wherein the growth state or plant maturityis based on observed rainfall or precipitation for the field or regionassociated with the plant.
 8. The method according to claim 1 whereinthe growth state or plant maturity is further based on root sizemeasurements of a root sensing device.
 9. The method according to claim1 further comprising: commanding or instructing an actuator associatedwith the nutrient knife assembly to activate the distribution of thecrop input or nutrient from the at least one ground-engaging nutrientknife directed along a linear row path that intercepts safety zoneoutward from a root zone about each stalk within a row of plants. 10.The method according to claim 9 wherein the safety zone comprises agenerally annular zone outward from the root zone of a correspondingplant in the row.
 11. The method according to claim 9 wherein the safetyzone comprises an outer safety zone that comprises a generally annularzone that is adjusted based on the growth stage or maturity of plantswith the row and concentration of the nutrients.
 12. The methodaccording to claim 9 wherein the linear row path is associated with acorresponding application start point and a corresponding applicationend point for each plant in the row, where the application ordistribution of the nutrient is active when the ground-engaging nutrientknife traverses the linear row path.
 13. The method according to claim 1wherein the safety zone comprises a generally annular zone outward fromthe root zone of a corresponding plant in the row.
 14. The methodaccording to claim 1 wherein the safety zone comprises an outer safetyzone that comprises a generally annular zone that is adjusted based onthe growth stage or maturity of plants with the row and concentration ofthe nutrients.
 15. The method according to claim 1 wherein the safetyzone comprises a generally annular zone outward from the root zone of acorresponding plant in the row.
 16. The method according to claim 1wherein the safety zone comprises an outer safety zone that comprises agenerally annular zone that is adjusted based on the growth stage ormaturity of plants with the row and concentration of the nutrients. 17.A method for treating or applying nutrients to plants, the methodcomprising: determining a growth state or maturity state of a plantbased on a planting date, accumulated growing degree days since theplanting date, and the crop type of the plant; estimating a size,diameter or radius of a root zone of the plant based on the determinedgrowth state or maturity state; adjusting a lateral offset of adistribution pattern of a crop input or nutrient from at least onenutrient knife of nutrient knife assembly based on the size, diameter orradius of the root zone and safety zone about the root zone, where theat least one nutrient knife tracks a path outside of the root zone; andcommanding or instructing an actuator associated with the nutrient knifeassembly to activate the distribution of the crop input or nutrient fromthe at least one ground-engaging nutrient knife directed along a linearrow path that intercepts the safety zone outward from a root zone abouteach stalk within a row of plants, wherein the linear row path isassociated with a corresponding application start point and acorresponding application end point for each plant in the row, where theapplication or distribution of the nutrient is active when theground-engaging nutrient knife traverses a path plan between theapplication start point and the application end point.
 18. The methodaccording to claim 17 wherein the safety zone comprises a generallyannular zone outward from the root zone of a corresponding plant in therow.
 19. The method according to claim 17 wherein the safety zonecomprises an outer safety zone that comprises a generally annular zonethat is adjusted based on the growth stage or maturity of plants withthe row and concentration of the nutrients.
 20. The method according toclaim 17 further comprising: commanding or instructing an actuatorassociated with the nutrient knife assembly to activate the distributionof the crop input or nutrient from the at least one ground-engagingnutrient knife directed along a linear row path with an arc deviationthat intercepts a safety zone outward from a root zone about each stalkwithin a row of plants, where the arc extends outward with respect toeach corresponding plant with the row.
 21. The method according to claim20 wherein the safety zone comprises a generally annular zone outwardfrom the root zone of a corresponding plant in the row.
 22. The methodaccording to claim 20 wherein the safety zone comprises an outer safetyzone that comprises a generally annular zone that is adjusted based onthe growth stage or maturity of plants with the row and concentration ofthe nutrients.
 23. The method according to claim 20 wherein the safetyzone comprises a generally annular zone outward from the root zone of acorresponding plant in the row.
 24. The method according to claim 20wherein the safety zone comprises an outer safety zone that comprises agenerally annular zone that is adjusted based on the growth stage ormaturity of plants with the row and concentration of the nutrients. 25.A method for treating or applying nutrients to plants, the methodcomprising: determining a growth state or maturity state of a plantbased on a measured root size via a ground-penetrating root-sensingdevice; estimating a size, diameter or radius of a root zone of theplant based on the determined growth state or maturity state; adjustinga lateral offset of a distribution pattern of a crop input or nutrientfrom at least one nutrient knife of nutrient knife assembly based on thesize, diameter or radius of the root zone and safety zone about the rootzone, where the at least one nutrient knife tracks a path outside of theroot zone; and commanding or instructing an actuator associated with thenutrient knife assembly to activate the distribution of the crop inputor nutrient from the at least one ground-engaging nutrient knifedirected along a linear row path that intercepts the safety zone outwardfrom a root zone about each stalk within a row of plants, wherein thelinear row path is associated with a corresponding application startpoint and a corresponding application end point for each plant in therow, where the application or distribution of the nutrient is activewhen the ground-engaging nutrient knife traverses a path plan betweenthe application start point and the application end point.
 26. A methodfor treating or applying nutrients to plants, the method comprising:determining a growth state or maturity state of a plant based on aplanting date, a current date and the crop type of the plant, whereinthe growth state or the plant maturity is based on growing degree daysderived from temperature data for a geographic area associated with theplant, the planting date, the current date and the crop type of theplant, where the derived growing degree days are accumulated between theplanting date and the current date; estimating a size, diameter orradius of a root zone of the plant based on the determined growth stateor maturity state; adjusting a lateral offset of a distribution patternof a crop input or nutrient from at least one nutrient knife of nutrientknife assembly based on the size, diameter or radius of the root zoneand safety zone about the root zone, where the at least one nutrientknife tracks a path outside of the root zone; collecting stereo imagedata on the plant to evaluate a plant size or plant height to verify thedetermined growth state or maturity state for the plant; and adjustingthe determined growth state or maturity state for the plant based on thecollected stereo image data predominating over the derived growingdegree days.